Automatic loading and unloading mechanism and method for drill rod

Abstract

The invention relates to an automatic drill rod loading and unloading mechanism and method, and the automatic drill rod loading and unloading mechanism comprises a crawler-type moving frame, a mast, a drill rod separating and storing mechanism, a drill rod clamping and conveying mechanism, a drill rod butt joint auxiliary guiding and locking mechanism and a controller, the mast is hinged to the right side of the crawler-type moving frame, and a drill rod hydraulic clamping device is arranged at the bottom of the mast; a power head capable of moving up and down is arranged on the mast, a lengthened main shaft is arranged on the power head, the drill rod separating and storing mechanism comprises a drill rod storing mechanism and a drill rod separating and conveying mechanism, the drill rod clamping and conveying mechanism comprises a swing driving mechanism, a swing arm and a drill rod clamping assembly, and the drill rod butt joint auxiliary guiding and locking mechanism is arranged on the power head. By means of the mechanism, automatic loading and disassembling of the drill rod can be achieved, the loading and disassembling efficiency of the drill rod can be greatly improved, meanwhile, the labor intensity of manual operation and the safety risk can be reduced, and therefore the drilling efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drill pipe loading and unloading, in particular to a drill pipe automatic loading and unloading mechanism and method. In geological drilling or well drilling operations, when a deep drilling depth is required, a large number of drill pipes are usually used to achieve continuous drilling. During this process, the loading and unloading of drill pipes is particularly important. When continuous drilling is performed, the operator needs to continuously load new drill pipes onto the drilling machine to ensure continuous drilling. After drilling is completed, the drill pipes need to be frequently and repeatedly unloaded to remove the used drill pipes.

[0002] However, current drill pipe loading and unloading operations mainly rely on the cooperation of multiple workers. Since the drill pipe itself is heavy, this not only makes the loading and unloading process very laborious, resulting in low operating efficiency and frequent safety accidents, but also increases the labor intensity of the workers.

[0003] More inconveniently, a large number of drill pipes currently need to be transported separately using additional transportation tools. This not only increases the transportation cost in drilling operations, but also makes the entire drilling process more complex and cumbersome. Therefore, how to improve the loading, unloading and transportation of drill pipes to improve drilling efficiency and reduce labor intensity and cost is a problem that needs to be solved in the current geological drilling field. SUMMARY

[0004] The purpose of the present application is to provide a drill pipe automatic loading and unloading mechanism and method, which can realize automatic loading and unloading of drill pipes, greatly improve the loading and unloading efficiency of drill pipes, reduce the labor intensity of manual operation, reduce safety risks, and thereby improve drilling efficiency.

[0005] The technical scheme adopted by the present application to solve its technical problems is: an automatic drill rod loading and unloading mechanism, comprising a tracked mobile frame, a mast, a drill rod separation and storage mechanism, a drill rod clamping and conveying mechanism, a drill rod butt joint auxiliary guiding and locking mechanism, and a controller, the mast is hingedly arranged on the right side of the tracked mobile frame, a drill rod hydraulic clamp is arranged at the bottom of the mast, a power head capable of moving up and down is arranged on the mast, and an extended main shaft is arranged on the power head, the drill rod separation and storage mechanism comprises a drill rod storage mechanism and a drill rod separation and conveying mechanism, the drill rod storage mechanism can realize the recovery and storage of the drill rod released by the drill rod clamping and conveying mechanism, and the drill rod separation and conveying mechanism can realize the single separation and conveying of the drill rod in the drill rod storage mechanism to a drill rod butt joint and dismounting station; the drill rod clamping and conveying mechanism comprises a swing driving mechanism, a swing arm, and a drill rod clamping assembly, the swing driving mechanism can drive the swing arm to reciprocally swing and position in a vertical plane, and the rotation center axis of the swing arm is parallel to the rotation center axis of the mast; the drill rod clamping assembly is arranged on the swing arm and can move up and down and left and right on the upper part of the swing arm, and the drill rod clamping assembly can realize the clamping and fixing and releasing of the drill rod; the drill rod butt joint auxiliary guiding and locking mechanism is arranged on the power head, and is used for assisting the butt joint of the drill rod and the extended main shaft and the locking after the complete rotation joint of the drill rod and the extended main shaft; and the controller can control the operation of the drill rod separation and storage mechanism, the drill rod clamping and conveying mechanism, and the drill rod butt joint auxiliary guiding and locking mechanism.

[0006] Preferably, the drill rod storage mechanism comprises a drill rod storage basket, L-shaped support arms, a recovery guide plate, a separation limiting plate, and a partition plate, the longitudinal section of the drill rod storage basket is in the shape of a parallelogram, the upper rear side of the drill rod storage basket is hingedly connected to the crawler-type moving frame, two L-shaped support arms are fixedly arranged on the upper rear side of the drill rod storage basket in a left-right opposite manner, the separation limiting plate is arranged along the length direction of the drill rod storage basket, the left and right ends of the separation limiting plate are fixedly connected to the left and right side walls of the drill rod storage basket, a drill rod passing opening is reserved between the vertical rod of the L-shaped support arm and the upper rear side of the separation limiting plate, a plurality of partition plates are fixedly arranged on the front side of the separation limiting plate in an equidistant manner in the front-rear direction, the bottom of the partition plate is flush with the bottom of the separation limiting plate, a first single-layer drill rod conveying channel is formed between the partition plate, the separation limiting plate, and the inner bottom plane of the drill rod storage basket, a drill rod separation channel is formed between the rear side wall of the separation limiting plate and the inner rear side wall of the drill rod storage basket, a single-row drill rod storage cavity is formed between the separation limiting plate and the partition plate and between two adjacent partition plates, the single-row drill rod storage cavity is in communication with the first single-layer drill rod conveying channel, the first single-layer drill rod conveying channel is in communication with the drill rod separation channel, and the upper portions of the plurality of partition plates gradually decrease from the rear to the front; the rear portion of the recovery guide plate is hingedly arranged on the upper portion of the vertical rod of the L-shaped support arm, and the upper portion of the recovery guide plate can be pressed against the upper portion of the separation limiting plate by the pushing action of a torsional spring, a first photoelectric detection switch for detecting the drill rods moved onto the two L-shaped support arms is arranged on the crawler-type moving frame, and the first photoelectric detection switch is electrically connected to the controller.

[0007] Further, the drill rod separation and conveying mechanism comprises a first hydraulic cylinder and conveying chains, the fixed end of the first hydraulic cylinder is hingedly connected to the crawler-type moving frame, the telescopic end of the first hydraulic cylinder is hingedly connected to the lower rear side of the drill rod storage basket, two conveying chains are arranged on the rear side wall of the drill rod storage basket in a left-right direction, a plurality of drill rod supporting plates are arranged on the conveying chains, only one drill rod can be stored between two adjacent drill rod supporting plates, and the drill rod supporting plates can lift the first drill rod in the rear portion of the first single-layer drill rod conveying channel into the drill rod separation channel and release the drill rod onto the two L-shaped support arms during the rotation of the conveying chains.

[0008] Further, the swing driving mechanism is a rotary oil cylinder, which is fixedly arranged on the crawler-type moving frame.

[0009] Further, the swing arm comprises a fixed support arm and a telescopic arm, the lower part of the fixed support arm is fixedly arranged on the rotating head of the rotary oil cylinder, the bottom of the telescopic arm is sleeved on the upper part of the fixed support arm, a second hydraulic cylinder is arranged on the fixed support arm for realizing the up-down movement of the telescopic arm, a linear reciprocating driving mechanism is arranged on the telescopic arm, the linear reciprocating driving mechanism can move left and right reciprocally, and a drill pipe clamping assembly is arranged on the linear reciprocating driving mechanism, the drill pipe clamping assembly comprises a support frame, a clamping jaw and a third hydraulic cylinder, a drill pipe groove is arranged on the right side of the upper and lower support plates of the support frame, the two clamping jaws are hingedly arranged between the two support plates, and the third hydraulic cylinder can push the corresponding clamping jaw to press and fix the drill pipe in the drill pipe groove.

[0010] Further, a first angle sensor coaxially rotating with the fixed support arm is arranged on the outside of the fixed support arm, and a second angle sensor coaxially rotating with the rotating support shaft of the mast is arranged on the outside of the rotating support shaft of the mast, the first angle sensor and the second angle sensor are fixedly arranged on the tracked mobile frame, and the first angle sensor and the second angle sensor are electrically connected with the controller.

[0011] Further, the drill pipe butt joint auxiliary guiding and locking mechanism comprises fourth hydraulic cylinders, a sliding sleeve, a rotating connection assembly, guiding blocks and locking blocks, the two fourth hydraulic cylinders are fixedly arranged on the two sides of the lengthened main shaft, the sliding sleeve is sleeved on the lengthened main shaft and can synchronously rotate with the lengthened main shaft, the rotating connection assembly is arranged on the outer side wall of the sliding sleeve and is fixedly connected with the telescopic ends of the two fourth hydraulic cylinders, the inner front side of the sliding sleeve is in a conical shape, three stepped limiting holes are arranged on the front side of the sliding sleeve and are equidistantly distributed along the circumferential direction of the sliding sleeve, each guiding block is sleeved in each stepped limiting hole, the guiding block comprises a limiting block and a hemispherical body, the hemispherical body is fixedly arranged at the bottom of the limiting block and can be pushed out from the bottom of the stepped limiting hole under the pushing of a spring, and the diameters of the inscribed circles among the three hemispherical bodies after the three hemispherical bodies are completely extended in the stepped limiting hole are equal to the diameter of the end of the conical threaded connection head of the drill pipe; the locking block is a fan-shaped body cut radially from the outer circle of the lengthened main shaft to the internal thread, the three fan-shaped bodies are arranged at the same positions as the three stepped limiting holes in the circumferential direction, and after the sliding sleeve is retracted to the initial position, the hemispherical bodies of the guiding blocks are pressed on the fan-shaped bodies under the pushing of the spring, so that the fan-shaped bodies can be pressed on the external threads of the corresponding drill pipes.

[0012] Further, the rotating connecting assembly comprises a deep groove ball bearing, an annular pressing ring, a stop washer, a round nut, and an annular chuck, the deep groove ball bearing is sleeved on the shaft shoulder of the sliding sleeve, the annular pressing ring, the stop washer, and the round nut are sequentially sleeved on the sliding sleeve, the annular chuck is sleeved on the outer ring of the deep groove ball bearing, a hole stop ring for limiting displacement of the deep groove ball bearing is arranged in the annular chuck, two connecting plates are fixedly arranged on the outer sidewall of the annular chuck, and the outer end of each connecting plate is fixedly connected with the telescopic end of a corresponding fourth hydraulic cylinder; a positioning ring located outside the stepped limiting hole is fixedly arranged on the outer side of the sliding sleeve, a threaded hole penetrating through the stepped limiting hole is arranged on the positioning ring, the spring is sleeved in the corresponding threaded hole, and an adjusting bolt for pressing the spring is arranged on the upper portion of the threaded hole.

[0013] The automatic drill rod loading and unloading method further comprises an automatic drill rod loading method and an automatic drill rod unloading method; before the automatic loading or unloading of the drill rod is performed, under the condition that the drilling angle of the mast is determined, the control of the linear reciprocating driving mechanism is performed by using the control program set in the controller, so that the drill rod clamped on the drill rod clamping assembly can be moved to the drill rod butt joint and dismounting station under the driving of the swing arm; after the position of the drill rod clamping assembly on the swing arm is adjusted according to the drilling inclination angle of the mast, the automatic drill rod loading method comprises the following steps: S1, before the automatic loading of the drill rod is performed, it is ensured that the swing arm is located at an initial station, and it is ensured that a certain number of drill rods are stored in the drill rod storage basket; S2, the worker sends a drill rod automatic loading instruction to the controller through the control panel. After the controller receives the drill rod automatic loading instruction, the controller makes the first hydraulic cylinder act, and after the first hydraulic cylinder stops acting, the conveying chain is made to act, and then a drill rod enters the two L-shaped support arms. At this time, the drill rod also enters the two drill rod grooves located below it. After the first photoelectric detection switch detects the drill rod, the conveying chain stops rotating, and at the same time, the controller starts the third hydraulic cylinder to realize the clamping and fixing of the drill rod. Then, the controller starts the rotary oil cylinder to make the swing arm move the drill rod to the drill rod butt joint and disassembly station. After the swing arm stops swinging, the controller starts the fourth hydraulic cylinder to make the sliding sleeve extend downward. After the sliding sleeve extends to the position, the controller starts the power head and the lengthened spindle to work, so that the power head slowly descends on the mast while the lengthened spindle synchronously rotates. In the process of the slow downward movement of the power head, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle to rotate in real time. When the oil inlet pressure value rises and reaches the set threshold value, the controller makes the power head stop descending, and at the same time, makes the lengthened spindle stop rotating and makes the fourth hydraulic cylinder return to the initial working position. Then, the drill rod clamping assembly releases the drill rod and returns to the initial working position. Then, the power head and the lengthened spindle are started again, so that the drill rod butt jointed with the lengthened spindle rotates and slowly moves downward. In the process of the slow downward movement of the drill rod, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle to rotate in real time. When the oil inlet pressure value rises and reaches the set threshold value, the controller makes the power head stop descending, and at the same time, makes the lengthened spindle stop rotating. At this time, the butt joint of the drill rod on the lengthened spindle and the drill rod clamped and fixed by the drill rod hydraulic clamp is completed, and then the automatic butt joint process of a drill rod is completed. After adjusting the position of the drill rod clamping assembly on the swing arm according to the drilling inclination angle of the mast, the drill rod automatic unloading method comprises the following steps: S1, before the automatic unloading of the drill rod, it is ensured that the number of drill rods drilled into the ground is at least two. At the same time, it is ensured that the swing arm is in the initial working position and the drilling machine is in the stopped drilling state. S2, the worker sends a drill rod automatic unloading instruction to the controller through the control panel; after the controller receives the drill rod automatic unloading instruction, the power head is started to move upward along the mast to a set position, after the power head stops moving upward, the drill rod hydraulic clamp is started, after the drill rod hydraulic clamp completes the clamping action, the lengthened spindle rotates while the power head slowly and synchronously moves upward by a certain distance, when the power head moves to the position, it stops moving while the lengthened spindle stops rotating, so that the drill rod is completely separated from the drill rod clamped by the drill rod hydraulic clamp, then the rotary oil cylinder is started to make the swing arm drive the drill rod clamping assembly to swing to the drill rod butt joint dismounting station, after the swing arm stops swinging, the third hydraulic cylinder is started to clamp the drill rod on the butt joint dismounting station, then the controller starts the fourth hydraulic cylinder to make the sliding sleeve extend downward to a set value, so that the hemisphere of the guide block is away from the locking block, the power head and the lengthened spindle are started again, the lengthened spindle rotates to separate from the drill rod while the power head slowly moves upward by a certain distance, after the power head stops moving, the controller starts the rotary oil cylinder again to make the swing arm swing in the reverse direction, during the continuous swinging of the swing arm, the first angle sensor transmits the detected inclination angle value of the swing arm to the controller in real time, when the controller determines that the inclination angle of the swing arm is greater than a set threshold, the clamping jaw releases the clamping of the drill rod, after the clamping jaw releases the clamping of the drill rod, the swing arm and the second hydraulic cylinder return to the initial working position, the drill rod is separated from the drill rod clamping assembly under the block of the two recovery guide plates and automatically rolls into the drill rod storage basket, after the swing arm returns to the initial working position, the controller starts the power head and the lengthened spindle to make the power head slowly descend on the mast while the lengthened spindle synchronously rotates, during the slow downward movement of the power head, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle to rotate in real time, when the oil inlet pressure value rises and reaches a set threshold, the controller makes the power head stop descending while making the lengthened spindle stop rotating, the fourth hydraulic cylinder is started to drive the sliding sleeve to return to the initial position, so that the hemisphere of the guide block is pushed against the locking block under the pushing of the spring; after the lengthened spindle stops rotating, the drill rod hydraulic clamp releases the clamping of the drill rod; at this time, the unloading work flow of one drill rod is completed.

[0014] The present application has the advantages that: the present application has simple structure, which is beneficial to the realization of processing and manufacturing; the present application can realize the automatic loading and unloading of the drill pipe in the drilling process, thereby improving the loading and unloading efficiency of the drill pipe, and meanwhile, the manual participation in the transportation of the drill pipe is not needed in the loading and unloading process, thereby greatly reducing the labor intensity and avoiding the occurrence of safety accidents; the linear reciprocating driving mechanism can be used to adjust the vertical distance between the hydraulic clamping assembly and the telescopic arm, thereby enabling the hydraulic clamping assembly to adapt to the loading and unloading of the drill pipe on the mast with different inclination angles; the drill pipe separation and storage mechanism can be used to effectively separate the single drill pipe, and the separation process is simple, safe and reliable; when the drill pipe and the extended spindle are connected, the cooperation of the conical port of the sliding sleeve and the three hemispheres can realize the guidance of the connecting end of the drill pipe, thereby improving the connection efficiency and success rate of the drill pipe and the extended spindle; the drill pipe storage basket arranged on the tracked mobile frame can carry a large number of drill pipes, thereby eliminating the need for separate transportation of the drill pipes by using additional transportation tools, thereby reducing the drilling cost of the drilling machine; after the drill pipe and the extended spindle are threadedly connected, the spring presses the guide block, so that the locking block is pressed on the external thread of the drill pipe, thereby realizing the locking of the extended spindle and the drill pipe; in the process of disassembling the drill pipe, the locking characteristics of the extended spindle and the drill pipe can ensure that the drill pipe and the extended spindle are not separated, and the adjacent two drill pipes are separated, thereby ensuring that the drill pipe can be automatically disassembled. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are part of the preferred embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present application. Figure 2 It is a front view of the distribution of the drill pipe butt joint auxiliary guiding and locking mechanism on the power head. Figure 3 It is a longitudinal sectional view of one embodiment of the distribution of the drill pipe butt joint auxiliary guiding and locking mechanism on the power head. Figure 4 It is a top view of one embodiment of the distribution of the drill pipe butt joint auxiliary guiding and locking mechanism on the power head. Figure 5 It is a sectional view of the sliding sleeve at A-A in the figure. Figure 3 Figure 6 ​A state diagram of an example of a drill rod butt joint auxiliary guide and locking mechanism assisting the butt joint of a drill rod and an extended main shaft; Figure 7 A front view of a drill rod separation and storage mechanism; Figure 8 A state diagram of the drill rod separation and storage mechanism achieving single drill rod separation and conveying; Figure 9 A Figure 1 Enlarged view at A in the middle; Figure 10 A Figure 1 Enlarged view at B in the middle; Figure 11 A Figure 1 Enlarged view at C in the middle; Figure 12 A Figure 3 Enlarged view at D in the middle; Figure 13 A Figure 3 Enlarged view at E in the middle; Figure 14 A Figure 7 Enlarged view at F in the middle; Figure 15 A front view of a locking block; Figure 16 A Figure 6 Enlarged view at G in the middle; Figure 17 A partial diagram of a drill rod clamping assembly; Figure 18 A structural diagram of a semi-annular protective cover; In the figure: 1 mobile track frame, 2 mast, 21 drill rod hydraulic clamp, 22 power head, 221 extended main shaft, 23 rotating support shaft, 231 second angle sensor, 31 drill rod storage mechanism, 311 drill rod storage basket, 312 L-shaped support arm, 3121 first support shaft, 3122 vertical rod, 313 recovery guide plate, 3131 torsional spring, 314 separation limiting plate, 315 separation plate, 32 drill rod separation and conveying mechanism, 321 first hydraulic cylinder, 322 conveying chain, 3221 drill rod supporting plate, 323 first photoelectric detection switch, 41 rotating oil cylinder, 42 swing arm, 421 fixed support arm, 422 telescopic arm, 423 first angle sensor, 431 guide rod, 4311 fixed limiting rod, 432 lead screw, 4321 moving slider, 433 servo motor, 434 support frame, 4341 support arm, 435 clamping jaw, 436 third hydraulic cylinder, 44 second hydraulic cylinder, 51 fourth hydraulic cylinder, 511 connecting plate, 52 sliding sleeve, 521 stepped limiting hole, 53 rotating connection assembly, 531 deep groove ball bearing, 532 annular top pressing ring, 533 stop washer, 534 round nut, 535 annular chuck, 54 guide block, 541 limiting block, 542 hemisphere, 55 positioning ring, 56 adjusting bolt, 57 spring, 58 fixing bolt, 59 locking block, 101 drill rod, 102 drill rod separation channel, 103 first single-layer drill rod conveying channel, 104 single-row drill rod storage cavity, 105 drill rod passing port, 106 sealing ring, 107 telescopic flexible organ dust cover, 108 semi-annular protective cover. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described below in conjunction with specific embodiments and drawings. Figures 1-18 It should be apparent that the described embodiments are only a part of the preferred embodiments of the present application, but not all embodiments. Those skilled in the art can make similar modifications without departing from the spirit of the present application, and therefore the present application is not limited by the specific embodiments disclosed below.

[0018] A drill rod automatic loading and unloading mechanism (such as Figure 1The illustrated), including the track mobile frame 1, mast 2, drill pipe separation storage mechanism, drill pipe clamping and conveying mechanism, drill pipe butt joint auxiliary guide and locking mechanism 5, controller, in the existing drilling rig technology, track mobile frame 1 is a known commonly used mature components, it is used to realize the movement of the whole drilling rig, at the same time, it provides stable support for the related executive components on the drilling rig, so here, the detailed structure and working principle of the track mobile frame 1 will not be described in detail, the mast 2 is a known necessary component on the existing drilling rig, which is used to realize the adjustment and positioning of the drilling angle and provide stable support for the driving components of the drill pipe; therefore, the detailed structure of the mast 2 will not be described in detail; the mast 2 is hingedly arranged on the right side of the track mobile frame 1, specifically, a rotating support shaft 23 is arranged in the middle area of the right side of the track mobile frame 1, the lower left side of the mast 2 is slidably arranged on the rotating support shaft 23, two luffing hydraulic cylinders are arranged on the track mobile frame 1 and located on the left side of the mast 2, the bottoms of the two luffing hydraulic cylinders are hingedly connected with the track mobile frame 1, the upper parts are hingedly connected with the left middle area of the mast 2, and the extension and retraction of the two luffing hydraulic cylinders realize the rotation of the mast 2 around the rotating support shaft 23, a drill pipe hydraulic clamp 21 is arranged at the bottom of the mast 2, the drill pipe hydraulic clamp 21 is a known commonly used mature technical product in the existing drilling rig technology, which is mainly used to realize the clamping and fixing of the drill pipe, so here, the detailed structure and working principle of the drill pipe hydraulic clamp will not be described in detail; a power head 22 capable of moving up and down is arranged on the mast 2, the power head 22 is a known mature technical product in the drilling rig technology, and the implementation mode of the power head 22 moving up and down on the mast 2 is the existing mature technology, so the specific structure of the power head 22 and the specific implementation mode of the power head 22 moving up and down on the mast 2 will not be described in detail; a lengthened spindle 221 is arranged on the power head 22, the lengthened spindle 221 is also a known mature technical product in the existing technology field, which is used to realize butt joint with the drill pipe and drive the drill pipe, and the lengthened spindle 221 rotates by using the hydraulic motor arranged on the power head; in actual application, the drilling operation of the drill pipe can be realized by the continuous downward movement of the power head 22 and the rotation of the lengthened spindle 221.In the specific embodiment, the controller can be a PLC controller commonly used in the field of industrial automation technology. The drill rod separation and storage mechanism includes a drill rod storage mechanism 31 and a drill rod separation and conveying mechanism 32. The drill rod storage mechanism 31 can realize the recycling and storage of the drill rod 101 released by the drill rod clamping and conveying mechanism. The storage capacity of the drill rod storage mechanism 31 for the drill rod 101 can enable the unloading operation process of the drill rod to continue, and facilitate the carrying and conveying of a large number of drill rods 101 by the crawler-type mobile frame 1. The drill rod separation and conveying mechanism 32 can realize the single separation and conveying of the drill rod 101 in the drill rod storage mechanism 31 to the drill rod butt joint and disassembly station. The drill rod butt joint and disassembly station refers to the position where the drill rod realizes butt joint and separation with the extended spindle 221. After the single separation and conveying of the drill rod 101 by the drill rod separation and conveying mechanism 32, the drill rod clamping and conveying mechanism can convey the drill rod 101 in the direction of the mast 2, and then realize the subsequent butt joint of the drill rod 101. The drill rod clamping and conveying mechanism includes a swing driving mechanism, a swing arm 42, and a drill rod clamping assembly. The swing driving mechanism can drive the swing arm 42 to reciprocally swing left and right and position in the vertical plane. In the specific embodiment, the swing driving mechanism can be a rotary oil cylinder 41, which is a mature product known in the prior art, so the specific structure and working principle of the rotary oil cylinder 41 will not be described in detail. The rotary center axis of the swing arm 42 is parallel to the rotary center axis of the mast 2. The drill rod clamping assembly is arranged on the swing arm 42 and can move up and down and left and right on the upper part of the swing arm 42. The drill rod clamping assembly can realize the clamping, fixing, and releasing of the drill rod 101. In the specific embodiment, the rotary center axis of the swing arm 42 is not coaxial with the rotary center axis of the mast 2, and the drilling angle of the mast 2 is not always perpendicular to the ground. Therefore, the left and right movement adjustment and positioning capacity of the drill rod clamping assembly on the swing arm 42 can enable the drill rod clamping assembly to adapt to the change of the inclination angle of the mast 2. After the inclination angle of the mast 2 is adjusted, the left and right adjustment capacity of the drill rod clamping assembly can enable the drill rod 101 to adapt to the angle adjustment change of the mast 2, and then the drill rod clamping assembly can accurately convey the drill rod 101 on it to the lower side of the extended spindle 221 on the mast 2, realize the accurate butt joint of the drill rod 101 and the extended spindle 221, and accurately clamp the drill rod 101 separated from the extended spindle 221.The drill pipe butt joint auxiliary guiding and locking mechanism 5 is arranged on the power head 22, and is used for assisting butt joint of the drill pipe 101 and the lengthened spindle 221 and locking of the threaded connection of the lengthened spindle 221 and the drill pipe 101. In actual application, the drill pipe butt joint auxiliary guiding and locking mechanism 5 is used for limiting and guiding the butt joint threaded end of the drill pipe 101, so that the butt joint success rate of the butt joint threaded end of the drill pipe 101 and the lengthened spindle 221 is improved. When the drill pipe is automatically unloaded, the threaded end of the drill pipe 101 near the drill pipe hydraulic clamp 21 is first unscrewed, then the threaded connection between the drill pipe 101 and the lengthened spindle 221 is unscrewed by cooperating with the drill pipe clamping and conveying mechanism. The controller can control the operation of the drill pipe separation and storage mechanism, the drill pipe clamping and conveying mechanism and the drill pipe butt joint auxiliary guiding and locking mechanism. According to the control program set in the controller and the related feedback signals, the linkage control of the power head 22, the drill pipe separation and storage mechanism, the drill pipe clamping and conveying mechanism, the drill pipe butt joint auxiliary guiding and locking mechanism and the drill pipe hydraulic clamp 21 can be realized, and then the automatic control of the loading and unloading of the drill pipe 101 can be realized.

[0019] On the basis of the above-mentioned embodiment, the specific implementation of the drill rod storage mechanism is that: the drill rod storage mechanism comprises a drill rod storage basket 311, an L-shaped support arm 312, a recovery guide plate 313, a separation limiting plate 314, and a partition plate 315. The longitudinal section of the drill rod storage basket 311 is a parallelogram. In actual application, several square tubes can be used to realize the processing and manufacturing of the drill rod storage basket 311 by welding, and two flat plates are used to realize the closure of the left and right sides of the drill rod storage basket 311. The upper rear side of the drill rod storage basket 311 is hingedly connected with the crawler-type mobile vehicle frame 1, that is, in actual application, the drill rod storage basket 311 can be rotated, and then the drill rod 101 stored therein can flow in one direction. Two left and right L-shaped support arms 312 are fixedly arranged on the upper rear side of the drill rod storage basket 311. The L-shaped support arms 312 rotate synchronously with the drill rod storage basket 311. The separation limiting plate 314 is arranged along the length direction of the drill rod storage basket 311. The left and right ends of the separation limiting plate 314 are fixedly connected with the left and right side walls of the drill rod storage basket 311, that is, the separation limiting plate 314 is fixedly supported by the support of the left and right side walls of the drill rod storage basket 311. A drill rod passing port 105 is reserved between the vertical rod 3122 of the L-shaped support arm 312 and the upper rear side of the separation limiting plate 314. In actual application, when the drill rod clamping assembly is used to move the drill rod 101 on the L-shaped support arm 312 upward, the drill rod 101 will move out of the drill rod passing port 105. A plurality of partition plates 315 are fixedly arranged on the front side of the separation limiting plate 314 at equal intervals in the front-rear direction. In order to realize the single-layer separation of the drill rod 101, the vertical distance between two adjacent partition plates 315 is slightly larger than the diameter of the drill rod 101. The bottom of the partition plate 315 is flush with the bottom of the separation limiting plate 314. A first single-layer drill rod conveying channel 103 is formed between the partition plate 315, the separation limiting plate 314, and the inner bottom plane of the drill rod storage basket 311. A drill rod separation channel 102 is formed between the rear side wall of the separation limiting plate 314 and the inner rear side wall of the drill rod storage basket 311. A single-row drill rod storage cavity 104 is formed between the separation limiting plate 314 and the partition plate 315 and between two adjacent partition plates 315. The single-row drill rod storage cavity 104 is in communication with the first single-layer drill rod conveying channel 103, and the first single-layer drill rod conveying channel 103 is in communication with the drill rod separation channel 102. The upper part of the partition plate 315 gradually decreases from the rear to the front, so that the drill rod 101 can roll when stored, thereby realizing the full filling of the drill rod 101 in the drill rod storage basket 311.The rear part of the recycling guide plate 313 is hinged on the upper part of the vertical rod 3122 of the L-shaped support arm 312 through the first support shaft 3121, and the upper part of the recycling guide plate 313 can be pressed against the upper part of the separation limiting plate 314 by the pushing action of the torsional spring 3131. Specifically, the torsional spring 3131 is sleeved on the first support shaft 3121, and one torsional arm of the torsional spring 3131 is pressed against the vertical rod 3122, and the other torsional arm is pressed against the bottom of the recycling guide plate 313. A first photoelectric detection switch 323 for detecting the drill rod 101 moved onto the L-shaped support arm 312 is arranged on the crawler-type moving frame 1, and the first photoelectric detection switch 323 is electrically connected with the controller.

[0020] On the basis of the above-mentioned embodiment, the drill pipe separation conveying mechanism 32 comprises a first hydraulic cylinder 321, a conveying chain 322, the fixed end of the first hydraulic cylinder 321 is hingedly connected with the crawler-type moving vehicle frame 1, the telescopic end of the first hydraulic cylinder 321 is hingedly connected with the rear lower part of the drill pipe storage basket 311, in the actual application process, the extension action of the first hydraulic cylinder 321 is used to realize the inclined swinging of the drill pipe storage basket 311, the telescopic stroke of the first hydraulic cylinder 321 is fixed and unchanged, after the inclined swinging of the drill pipe storage basket 311 is realized, the drill pipes at the bottom of the single-row drill pipe storage cavity 104 can enter the first single-layer drill pipe conveying channel 103 and continue to move to the intersection of the drill pipe separation channel 102 and the first single-layer drill pipe conveying channel 103 under the action of gravity, two conveying chains 322 are arranged on the rear sidewall of the drill pipe storage basket 311 along the left-right direction, a plurality of drill pipe supporting plates 3221 are arranged on the conveying chain 322, only one drill pipe 101 can be stored between two adjacent drill pipe supporting plates 3221, specifically, the distance between two adjacent drill pipe supporting plates 3221 is slightly greater than the outer diameter of the drill pipe 101, after a plurality of drill pipe supporting plates 3221 are arranged on the conveying chain 322 according to the above-mentioned mode, too many drill pipes 101 can be prevented from entering the drill pipe separation channel 102 under unexpected circumstances by using the blocking of the drill pipe supporting plates 3221; during the rotation of the conveying chain 322, the drill pipe supporting plates 3221 can lift the first drill pipe 101 at the rear part of the first single-layer drill pipe conveying channel 103 into the drill pipe separation channel 102 and can release the drill pipe 101 to the two L-shaped support arms 312, the drill pipe 101 separated from the conveying chain 322 can automatically roll into the bending part of the L-shaped support arm 312 under the action of gravity, the two L-shaped support arms 312 are in a suspended state, and then the drill pipe clamping assembly can be moved below the drill pipe 101 to realize the clamping and fixing of the drill pipe 101; the conveying chain 322 can be rotationally driven by a motor, and the operation of the motor is controlled by a controller.

[0021] On the basis of the above embodiment, the specific implementation of the swing arm 42 is that the swing arm 42 comprises a fixed support arm 421 and a telescopic arm 422, the lower part of the fixed support arm 421 is fixedly arranged on the rotating head of the rotary oil cylinder 41, the bottom of the telescopic arm 422 is sleeved in the upper part of the fixed support arm 421, in order to prevent the telescopic arm 422 from rotating in the fixed support arm 421, the telescopic arm 422 is a square vertical rod, and the lower part of the telescopic arm 422 is sleeved in the square hole in the upper part of the fixed support arm 421; a second hydraulic cylinder 44 for realizing the up-down movement of the telescopic arm 422 is arranged on the fixed support arm 421, and the telescopic movement of the second hydraulic cylinder 44 realizes the telescopic movement of the telescopic arm 422; a linear reciprocating driving mechanism is arranged on the telescopic arm 422, the linear reciprocating driving mechanism can move left and right reciprocally, and the drill rod clamping assembly is arranged on the linear reciprocating driving mechanism. In the specific embodiment, the specific implementation of the linear reciprocating driving mechanism is that the linear reciprocating driving mechanism comprises guide rods 431, a lead screw 432, a servo motor 433 and a moving slider 4321, two guide rods 431 are fixedly arranged on the right side wall of the telescopic arm 422 in parallel, a fixed limiting rod 4311 is fixedly arranged between the two guide rods 431, the lead screw 432 is rotatably arranged between the telescopic arm 422 and the fixed limiting rod 4311, the rotation stability of the lead screw 432 can be ensured by the rotation support of the telescopic arm 422 and the fixed limiting rod 4311, the servo motor 433 is fixedly arranged on the telescopic arm 422 and is used for realizing the rotation driving of the lead screw 432, the moving slider 4321 is sleeved on the two guide rods 431 and the lead screw 432, and the rotation of the lead screw 432 realizes the left-right reciprocating movement of the moving slider 4321. Specifically, the lead screw 432 and the moving slider 4321 are in a threaded cooperation relationship, the moving slider 4321 is pushed to move reciprocally by using the threads on the lead screw 432 when the lead screw 432 moves forward and reversely. When the lead screw 432 moves forward, the moving slider 4321 moves forward, and when the lead screw 432 reverses, the moving slider 4321 moves backward. The drill rod clamping assembly comprises a support frame 434, clamping jaws 435 and a third hydraulic cylinder 436, the support frame 434 is fixedly arranged on the moving slider, a drill rod groove is arranged on the right side of each of the upper and lower support plates 4341 of the support frame 434, the two clamping jaws 435 are hingedly arranged between the two support plates 4341, and the third hydraulic cylinder 436 can push the corresponding clamping jaw 435 to press and fix the drill rod 101 in the drill rod groove.In actual application, when the drill rod groove is buckled on the outer wall of the corresponding drill rod 101, the third hydraulic cylinder 436 is started to extend, so that the clamp jaw 435 rotates and the drill rod 101 is clamped, when it is needed to release the clamp of the clamp jaw 435 on the drill rod 101, the third hydraulic cylinder 436 is retracted, and after the third hydraulic cylinder is retracted to the position, the clamp of the clamp jaw 435 on the drill rod 101 in the drill rod groove is released, in actual application, the controller is used to realize the logical operation control of the rotary oil cylinder 41, the second hydraulic cylinder 44, the servo motor 433 and the third hydraulic cylinder 436.

[0022] On the basis of the above embodiment, in order to realize the detection of the rotation angle of the swing arm 42 and the mast 2, and ensure that the swing angle of the swing arm 42 is the same as the inclination angle of the mast 2, a first angle sensor 423 coaxially rotating with the fixed support arm 421 is arranged outside the fixed support arm 421, and a second angle sensor 231 coaxially rotating with the rotating support shaft 23 of the mast 2 is arranged outside the rotating support shaft 23 of the mast 2; the first angle sensor 423 and the second angle sensor 231 are both fixedly installed on the crawler-type mobile vehicle frame 1 and are both electrically connected with the controller; in actual application, the first angle sensor 423 and the second angle sensor 231 can be used to accurately detect the angles of the swing arm 42 and the mast 2, so that when the inclination angle of the mast 2 changes, the inclination angle of the swing arm 42 can also change synchronously. In this way, after the angle of the mast 2 changes, by adjusting the position of the drill rod clamping assembly on the telescopic arm 422, it can be ensured that the clamped drill rod 101 can still be accurately moved to the drill rod butt joint and dismounting station. Therefore, even in the case that the inclination angle of the mast 2 changes, the drill rod clamping assembly can still realize the accurate conveying or clamping of the drill rod 101.

[0023] On the basis of the above embodiment, the specific implementation of the drill rod butt joint auxiliary guiding and locking mechanism 5 is that the drill rod butt joint auxiliary guiding and locking mechanism 5 comprises a fourth hydraulic cylinder 51, a sliding sleeve 52, a rotating connection assembly 53, a guiding block 54 and a locking block 59, two fourth hydraulic cylinders 51 are fixedly arranged on the two sides of the lengthened main shaft 221, the sliding sleeve 52 is slidingly sleeved on the lengthened main shaft 221 and the sliding sleeve 52 and the lengthened main shaft 221 can synchronously rotate, specifically, the sliding sleeve 52 and the lengthened main shaft 221 can adopt a spline transmission cooperation mode to realize synchronous rotation, for example, Figure 5As shown, a spline groove is provided on the inner side of the rear half of the sliding sleeve 52; the rotating connection assembly 53 is provided on the outer wall of the sliding sleeve 52, and the rotating connection assembly 53 is fixedly connected to the telescopic ends of the two fourth hydraulic cylinders 51. Using the connection of the rotating connection assembly 53, the fourth hydraulic cylinders 51 can push the rotating sliding sleeve 52 to reciprocate synchronously along the axial direction of the extended main shaft 221. The inner front side of the sliding sleeve 52 is conical, which facilitates the smooth connection of the sliding sleeve 52 with the threaded end of the drill rod 101. Three spline grooves are provided on the front side of the sliding sleeve 52. The drill rod 101 has stepped limiting holes 521 evenly spaced along its circumference. A guide block 54 is slidably fitted within each stepped limiting hole 521. Each guide block 54 includes a limiting block 541 and a hemisphere 542. The hemisphere 542 is fixedly disposed at the bottom of the limiting block 541. Under the push of a spring 57, the hemisphere 542 can extend from the bottom of the stepped limiting hole 521. After all three hemispheres 542 are fully extended within the stepped limiting holes 521, the diameter of the inscribed circle between the three hemispheres 542 is equal to the diameter of the end of the tapered threaded connector of the drill rod 101. In practical application, after the fourth hydraulic cylinder 51 pushes the sliding sleeve 52 into place, the hemisphere 542 extends out from the stepped limiting hole 521 under the push of the spring 57. After the three hemispheres 542 extend, an elastic guide channel is formed between them. After the threaded connection end of the drill rod 101 contacts any one of the three hemispheres 542, as the drill rod 101 and the hemispheres 542 continue to approach each other, the guiding effect of the hemispheres 542 causes the threaded connection end of the drill rod 101 to gradually move towards the elastic guide channel formed by the three hemispheres 542. The proximity facilitates precise docking of the threaded end of the drill rod 101 with the extended spindle 221. Simultaneously, during the navigation of the threaded end of the drill rod 101 using the hemisphere 542, the elasticity of the spring 57 allows for elastic contact between the threaded end of the drill rod 101 and the hemisphere 542, preventing wear on the outer threads of the drill rod 101. After the drill rod 101 achieves docking with the extended spindle 221, the fourth hydraulic cylinder 51 retracts, returning the sliding sleeve 52 to its initial position, thus completing one docking auxiliary guide. Meanwhile, the locking block 59 is a fan-shaped body cut radially from the outer circle of the extended spindle 221 to the inner thread; the transverse cross-section of the fan-shaped body is shown in the attached figure. Figure 3 and attached Figure 6 As shown, it resembles a trapezoid, except that its upper and lower bases are not parallel. Along the axial direction of the extended main shaft 221 and viewed from the connecting end of the extended main shaft 221 towards the locking block 59 (as shown in the image). Figure 15If the height of the bottom of the semi-circular body 541 is greater than the height of the bottom of the semi-circular body 542 (as shown), the quasi-fan-shaped body is similar to a fan-shaped body, except that the bottom of the quasi-fan-shaped body is an arc-shaped inclined surface with a high front and a low back; three said quasi-fan-shaped bodies are arranged at the same position as the three said stepped limiting holes 521 in the circumferential direction, and after the sliding sleeve 52 is retracted to the initial position, the hemispherical body 542 of the guide block 54 is pressed against the quasi-fan-shaped body under the pushing of the spring 57. In normal threaded connection, there is a certain gap between the internal thread and the external thread. In order to facilitate the contact between the bottom surface of the locking block 59 and the external thread of the drill pipe 101, the cutting of the locking block 59 is performed, so that the locking block 59 is smaller than the position of the mounting hole. In this way, the locking block 59 can move downward to a certain extent, and the locking block 59 can overcome the gap between the normal threaded connection. After the threaded connection end of the drill pipe 101 and the lengthened spindle 221 are normally threaded, the locking block 59 is pressed by the hemispherical body 542 under the pushing action of the spring 57, and the internal thread on the small end of the bottom is clamped on the external thread of the drill pipe 101, thereby locking the threaded connection between the lengthened spindle 221 and the drill pipe 101.

[0024] On the basis of the above-mentioned embodiments, the specific implementation of the rotating connecting assembly 53 is that: the rotating connecting assembly 53 comprises a deep groove ball bearing 531, an annular top pressing ring 532, a stop washer 533, a round nut 534, and an annular chuck 535; the deep groove ball bearing 531 is sleeved at the shaft shoulder of the sliding sleeve 52; the annular top pressing ring 532, the stop washer 533, and the round nut 534 are sequentially sleeved on the sliding sleeve 52; in actual application, the round nut 534 is threadedly connected with the sliding sleeve 52, thereby stably pressing the stop washer 533, the annular top pressing ring 532, and the inner ring of the deep groove ball bearing 531, so that the inner ring of the deep groove ball bearing 531 is stably fixed to the outer side of the sliding sleeve 52; the annular chuck 535 is clamped on the outer ring of the deep groove ball bearing 531; a hole stop ring for limiting displacement of the deep groove ball bearing 531 is arranged in the annular chuck 535; the hole stop ring and the annular chuck 535 limit the outer ring of the deep groove ball bearing 531, thereby fixing the outer ring of the deep groove ball bearing 531 on the annular chuck 535; two connecting plates 511 are fixedly arranged on the outer side wall of the annular chuck 535; the connecting plates 511 are not rotated, and the connecting plates 511 reciprocatingly push the sliding sleeve 52 by utilizing the rotating characteristics of the deep groove ball bearing 531; the outer end of each connecting plate 511 is fixedly connected with the telescopic end of a corresponding fourth hydraulic cylinder 51; a positioning ring 55 located outside the stepped limiting hole 521 is fixedly arranged on the outer side of the sliding sleeve 52; specifically, the positioning ring 55 is fixed on the sliding sleeve 52 by a plurality of fixing bolts 58; a threaded hole penetrating through the stepped limiting hole 521 is arranged on the positioning ring 55; the spring 57 is sleeved in the corresponding threaded hole; the adjusting bolt 56 is arranged at the upper portion of the threaded hole and used for pressing the spring 57; the outer end of the spring 57 is pressed by the adjusting bolt 56, so that the spring 57 can elastically press the guide block 54.

[0025] In actual application, in order to improve the dust and silt prevention capability of the drill rod butt joint auxiliary guide and locking mechanism 5, a telescopic flexible organ dust cover 107 (as shown in Figure 6 The telescopic flexible organ dust cover 107 is in a cylindrical structure; the rear end of the lengthened main shaft 221 and the rear end of the sliding sleeve 52 are located inside the telescopic flexible organ dust cover 107, so that the dust and silt prevention capability of the telescopic flexible organ dust cover 107 effectively prevents dust and silt from entering the movement cooperation area of the lengthened main shaft 221 and the sliding sleeve 52, thereby improving the stability of the reciprocating movement of the sliding sleeve 52 on the lengthened main shaft 221; further, in order to improve the dust and silt prevention capability of the area where the guide block 54 is located, two semi-annular protective covers 108 (as shown in Figure 6As shown in FIG. 9 and FIG. 10, two half-ring-shaped protective covers 108 are fixed on the sliding sleeve 52 by bolts, and a connecting plate is arranged at the joint of the two half-ring-shaped protective covers 108. The opposite two connecting plates are connected in a sealed manner by bolts. The positioning ring 55, the adjusting bolt 56 arranged on the upper part of the positioning ring 55, and the stepped limiting hole 521 arranged on the sliding sleeve 52 are all located in the half-ring-shaped protective cover 108. Then, the half-ring-shaped protective cover 108 is used to achieve dustproof of the area where the spring 57 and the limiting block 54 are located, so as to ensure the stable movement ability of the spring 57 and the limiting block 54. In order to further improve the dustproof ability of the area where the locking block 59 is located, a sealing ring 106 located in front of the locking block 59 is arranged on the front part of the lengthened main shaft 221 (as shown in FIG. 9 and FIG. 10). Figure 6 and 16 As shown in FIG. 9 and FIG. 10, after the sliding sleeve 52 is retracted to the initial position, the inner side wall of the sliding sleeve 52 can achieve a certain degree of extrusion of the sealing ring 106. After the sealing ring 106 is extruded, the inner side wall of the sliding sleeve 52 and the outer side wall of the lengthened main shaft 221 are sealed, thereby effectively preventing the mud and sand from entering the area where the locking block 59 is located through the gap between the sliding sleeve 52 and the lengthened main shaft 221, so as to facilitate the dustproof and mudproof of the locking block 59. During the drilling process, there is mud and sand splashing. At this time, the sealing ring 106 is in an extrusion sealing state. Therefore, the dustproof and sealing effect of the telescopic flexible organ protective cover 107, the half-ring-shaped protective cover 108, and the sealing ring 106 is used to achieve the dustproof and mudproof sealing of the cooperation part of the lengthened main shaft 221 and the sliding sleeve 52. When the drill rod is loaded or unloaded, although the hemisphere 542 is exposed on the outside under individual working conditions, there is no mud and sand splashing phenomenon at this time. Therefore, there is no mud and sand entering the stepped limiting hole 521 at this time, so as to ensure the normal reciprocating movement of the guiding block 54.

[0026] The application also provides a drill rod automatic loading and unloading method, which comprises the drill rod automatic loading and unloading mechanism described in the above embodiment, and further comprises a drill rod automatic loading method and a drill rod automatic unloading method; before the automatic loading or unloading of the drill rod 101 is performed, under the condition that the drilling angle of the mast 2 is determined, the control of the linear reciprocating drive mechanism is performed by using the control program set in the controller, so that the drill rod 101 clamped on the drill rod clamping assembly can be moved to the drill rod butt joint and dismounting station under the driving of the swing arm 42; in the actual drilling process of the drilling machine, there are vertical drilling and inclined drilling, and in the above embodiment, because the rotation center axis of the swing arm 42 and the rotation center axis of the mast 2 are only parallelly distributed but not coincidentally distributed, and the drill rod 101 clamped on the swing arm 42 and the telescopic arm 422 are left-right parallelly distributed but not front-back coincidentally distributed, when the mast 2 and the swing arm 42 are parallelly distributed at different inclined angles, the vertical distance between the swing arm 42 and the mast 2 is variable, for example, the greater the inclined angle of the mast 2 and the swing arm 42, the smaller the vertical distance therebetween, therefore, after the drilling angle of the mast 2 is changed, the moving distance of the drill rod clamping assembly on the telescopic arm 422 needs to be calculated according to the angle change of the mast 2, so that the drill rod 101 clamped by the drill rod clamping assembly can be accurately moved to the drill rod butt joint and dismounting station by using the swing arm 42 after the drilling angle of the mast 2 is adjusted, thereby facilitating the butt joint of the drill rod 101 and the lengthened main shaft 221 on the mast 2; because the distance between the rotation center axis of the mast 2 and the rotation center axis of the swing arm 42 is determined, and the inclined angle of the mast 2 is known, in the actual application process, the distance of the drill rod clamping assembly moving and adjusting on the telescopic arm 422 can be calculated according to the change of the inclined angle of the mast 2; because the drilling angle of the mast 2 is not large, the drill rod clamping assembly needs to move and adjust on the telescopic arm 422 less frequently, in the actual application process, the position adjustment control module of the drill rod clamping assembly on the telescopic arm 422 can be set in the controller, for example, the position adjustment control module of the drill rod clamping assembly when the included angle between the mast 2 and the ground is 90°, 75° and 60° can be set, these preset angles represent the common inclined conditions of the mast 2 in the drilling process, by using the preset control module, the position of the drill rod clamping assembly can be quickly and accurately adjusted to adapt to different drilling requirements; for example, when it is detected that the included angle between the mast 2 and the ground is 90°, the controller directly controls the servo motor 433 according to the above included angle condition, so that the drill rod clamping assembly moves to the specified position according to the set control program, and then the subsequent loading and dismounting of the drill rod 101 can be performed; after the position of the drill rod clamping assembly on the swing arm 42 is adjusted according to the drilling inclined angle of the mast 2, the drill rod automatic loading method comprises the following steps: S1, before the automatic loading of the drill pipe, ensure that the swing arm 42 is located at the initial station, and ensure that a certain number of drill pipes 101 are stored in the drill pipe storage basket 311; the initial station of the swing arm 42 is the position where the drill pipe clamping assembly clamps and fixes the drill pipe 101 between the two L-shaped support arms 312; S2, the worker sends the drill rod automatic loading instruction to the controller through the control panel. After the controller receives the drill rod automatic loading instruction, the controller drives the first hydraulic cylinder 321 to act. The action of the first hydraulic cylinder 321 realizes the tilting swing of the drill rod storage basket 311, and then the drill rod 101 in the first single-layer drill rod conveying channel 103 rolls to the conveying chain 322. After the first hydraulic cylinder 321 stops acting, the conveying chain 322 acts, and then a drill rod 101 enters the two L-shaped support arms 312. At this time, the drill rod 101 also enters the two drill rod grooves below. After the first photoelectric detection switch 323 detects the drill rod 101, the conveying chain 322 stops rotating. At the same time, the controller starts the third hydraulic cylinder 436 to realize the clamping and fixing of the drill rod 101. Then, the controller starts the rotary oil cylinder 41 to drive the swing arm 42 to move the drill rod 101 to the drill rod butt joint and disassembly station. After the swing arm 42 stops swinging, the controller starts the fourth hydraulic cylinder 51 to make the sliding sleeve 52 extend downward. After the sliding sleeve 52 extends to the position, the controller starts the power head 22 and the lengthened main shaft 221 to work, so that the power head 22 slowly descends on the mast 2 while the lengthened main shaft 221 rotates synchronously. In the process of the slow downward movement of the power head 22, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened main shaft 221 to rotate in real time. When the oil inlet pressure value rises and reaches a set threshold value, the controller stops the power head 22 from descending and the lengthened main shaft 221 from rotating, and the fourth hydraulic cylinder 51 returns to the initial working position. The above-mentioned set threshold value can be obtained through multiple experiments. In the prior art, a pressure gauge for monitoring the working pressure is arranged on the oil inlet pipeline of the hydraulic motor of the drilling machine. The pressure gauge is connected with a three-way connector on the oil inlet pipeline through a pipeline, and then the oil inlet pressure is monitored by using the pressure gauge. In the experiment, the drill rod is fixed by using the drill rod clamp, and then the lengthened main shaft 221 is driven by using the hydraulic motor. The safety relief peak value of the oil inlet pipeline of the hydraulic motor is about 10 MPa. Therefore, in the embodiment, the above-mentioned set threshold value is set to 10 MPa. The oil inlet pressure value can be measured by using a digital electric contact pressure gauge. In the actual butt joint process, when the lengthened main shaft 221 and the clamped and fixed drill rod 101 realize threaded butt joint, the resistance torque of the hydraulic motor of the lengthened main shaft 221 increases because the drill rod 101 is clamped, and then the oil inlet pressure of the hydraulic motor increases. Therefore, the change of the oil inlet pressure of the hydraulic motor of the lengthened main shaft 221 can be used as the judgment basis for whether the drill rod 101 and the lengthened main shaft 221 realize successful butt joint. Then, the drill rod clamp assembly releases the drill rod 101 and returns to the initial working position, and then the power head 22 and the lengthened main shaft 221 are started again.The drill pipe 101 that is docked with the lengthened main shaft 221 is moved slowly downward during rotation, and the controller receives the oil inlet pressure value of the hydraulic motor that drives the lengthened main shaft 221 to rotate in real time during the slow downward movement of the drill pipe 101, and when the oil inlet pressure value rises and reaches a set threshold value, the controller stops the power head 22 from descending and simultaneously stops the lengthened main shaft 221 from rotating. The set threshold value can be obtained through multiple experiments. In the prior art, a pressure gauge for monitoring working pressure is arranged on the oil inlet pipeline of the hydraulic motor of the drilling machine, the pressure gauge is connected in communication with a three-way connector on the oil inlet pipeline through a pipeline, and then the pressure gauge is used to monitor the oil inlet pressure. During the experiment, the drill pipe is fixed by using the drill pipe clamp, then the lengthened main shaft 221 is driven by using the hydraulic motor, and the safety relief peak value of the oil inlet pipeline of the hydraulic motor is about 10 MPa. Therefore, in the specific embodiment, the set threshold value can be set to 10 MPa. The value of the oil inlet pressure can be measured by using a digital electric contact pressure gauge. At this time, the drill pipe 101 on the lengthened main shaft 221 is docked with the drill pipe 101 that is clamped and fixed by the drill pipe hydraulic clamp 21, and then the automatic docking process of one drill pipe 101 is completed. After the position of the drill pipe clamping assembly on the swing arm 42 is adjusted according to the drilling inclination angle of the mast 2, the drill pipe automatic unloading method comprises the following steps: S1, before the automatic unloading of the drill pipe is performed, it is ensured that the number of drill pipes 101 drilled into the ground is at least two, and at the same time, it is ensured that the swing arm 42 is in an initial working position and the drilling machine is in a stopped drilling state; S2, the worker sends the drill rod automatic unloading instruction to the controller through the control panel; after the controller receives the drill rod automatic unloading instruction, the power head 22 is started to drive the drill rod 101 to move upwards along the mast 2 to a set position, the moving distance of the power head 22 can be controlled according to the moving speed and time of the power head 22, or the fixed point detection of the position of the power head 22 is realized according to the detection photoelectric detection switch arranged at the fixed position on the mast 2; after the power head 22 stops moving upwards, the drill rod hydraulic clamp 21 is started, and the drill rod 101 located on the ground is clamped and fixed by the drill rod hydraulic clamp 21; after the drill rod hydraulic clamp 21 completes the clamping action, the controller starts the rotation of the lengthened spindle 221 while the power head 22 slowly and synchronously moves upwards by a certain distance, because the connecting thread between the lengthened spindle 221 and the drill rod 101 has been locked by the locking block 59, so that the connecting thread between the drill rod 101 and the drill rod clamped by the drill rod hydraulic clamp 21 is first completely separated, that is, the corresponding two drill rods 101 are completely separated in the axial direction; then, the rotary oil cylinder 41 is started to make the swing arm 42 swing to the drill rod butt joint dismounting station, and after the swing arm 42 stops swinging, at this time, the drill rod groove is just clamped on the outer wall of the corresponding drill rod 101; the third hydraulic cylinder 436 is started to clamp the drill rod 101 on the butt joint dismounting station, then the controller starts the fourth hydraulic cylinder 51 to make the sliding sleeve 52 extend downwards to a set value, so that the hemispheres 542 of the guide blocks 54 are away from the locking block 59, at this time, the locking of the connecting thread between the lengthened spindle 221 and the drill rod 101 is released, the power head 22 and the lengthened spindle 221 are started again, the lengthened spindle 221 rotates and is separated from the drill rod 101 while the power head 22 slowly moves upwards by a certain distance, the drill rod 101 is clamped and fixed by the drill rod clamping assembly, so when the lengthened spindle 221 reversely rotates, the threaded connection between the lengthened spindle 221 and the drill rod 101 is separated; after the power head 22 stops moving (at this time, the connecting end of the lengthened spindle 221 and the drill rod 101 has been completely separated in the axial direction), the controller starts the rotary oil cylinder 41 again to make the swing arm 42 reversely swing, and during the continuous swinging of the swing arm 42, the first angle sensor 423 transmits the detected inclination angle value of the swing arm 42 to the controller in real time, when the controller determines that the inclination angle of the swing arm 42 is greater than the set threshold value, the clamping of the drill rod 101 by the clamping jaw 435 is released, and the set threshold value of the inclination angle can be obtained through several experiments in practice.At this time, the swing arm 42 drives the swing position of the drill pipe 101 to be the position where the drill pipe 101 is in contact with the recovery guide plate 313. After the clamp jaw 435 releases the clamping of the drill pipe 101, the swing arm 42 and the second hydraulic cylinder 44 return to the initial working position, the drill pipe 101 is separated from the drill pipe clamping assembly under the blocking of the two recovery guide plates 313, and automatically rolls into the drill pipe storage basket 311. After the swing arm 42 returns to the initial working position, the controller starts the work of the power head 22 and the lengthened spindle 221, so that the power head 22 slowly descends on the mast 2 while the lengthened spindle 221 synchronously rotates. During the slow downward movement of the power head 22, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle 221 to rotate in real time. When the oil inlet pressure value rises and reaches the set threshold value, the controller stops the power head 22 from descending and the lengthened spindle 221 from rotating. At this time, the lengthened spindle 221 is threadedly connected with the drill pipe 101 clamped and fixed by the drill pipe hydraulic clamp 21. After the lengthened spindle 221 stops rotating, the drill pipe hydraulic clamp 21 releases the clamping of the drill pipe 101. At this time, the unloading work process of one drill pipe 101 is completed.

[0027] In the present application, "up", "down", "front", "back", "left", and "right" are relative positions for the convenience of describing the positional relationship, and therefore cannot be understood as absolute positions for limiting the protection scope.

[0028] In addition to the technical features described in the specification, they are known to those skilled in the art. The above describes the preferred embodiments and examples of the present application in combination with the drawings, but the present application is not limited to the above-mentioned embodiments and examples. For ordinary skilled in the art, without departing from the concept of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be considered as the protection scope of the present application.

Claims

1. A drill rod automatic loading and unloading mechanism comprising a crawler-type moving frame, a mast, the mast being hingedly arranged on the right side of the crawler-type moving frame, a drill rod hydraulic clamp being arranged at the bottom of the mast, a power head capable of moving up and down being arranged on the mast, and an elongated main shaft being arranged on the power head, characterized in that, The automatic loading and unloading mechanism further comprises a drill rod separation and storage mechanism, a drill rod clamping and conveying mechanism, a drill rod butt joint auxiliary guiding and locking mechanism and a controller, the drill rod separation and storage mechanism comprises a drill rod storage mechanism and a drill rod separation and conveying mechanism, the drill rod storage mechanism can realize the recycling and storage of the drill rod released by the drill rod clamping and conveying mechanism, and the drill rod separation and conveying mechanism can realize the single separation and conveying of the drill rod in the drill rod storage mechanism to a drill rod butt joint and dismounting station; the drill rod clamping and conveying mechanism comprises a swing driving mechanism, a swing arm and a drill rod clamping assembly, the swing driving mechanism can drive the swing arm to reciprocate and position left and right in a vertical plane, and the rotation center axis of the swing arm is parallel to the rotation center axis of the mast; the drill rod clamping assembly is arranged on the swing arm and can move up and down and left and right on the upper part of the swing arm, and the drill rod clamping assembly can realize the clamping and fixing and releasing of the drill rod; the drill rod butt joint auxiliary guiding and locking mechanism is arranged on the power head, and is used for assisting the butt joint of the drill rod and the lengthened main shaft and the locking after the complete rotation joint of the drill rod and the lengthened main shaft; and the controller can control the operation of the drill rod separation and storage mechanism, the drill rod clamping and conveying mechanism and the drill rod butt joint auxiliary guiding and locking mechanism.

2. The automatic pipe handler of claim 1, wherein, The drill rod storage mechanism comprises a drill rod storage basket, L-shaped support arms, a recovery guide plate, a separation limiting plate, and a partition plate, the longitudinal section of the drill rod storage basket is in the shape of a parallelogram, the upper rear side of the drill rod storage basket is hingedly connected to the crawler-type moving frame, two L-shaped support arms are fixedly arranged on the upper rear side of the drill rod storage basket in a left-right opposite manner, the separation limiting plate is arranged along the length direction of the drill rod storage basket, the left and right ends of the separation limiting plate are fixedly connected to the left and right side walls of the drill rod storage basket, a drill rod passing opening is reserved between the vertical rod of the L-shaped support arm and the upper rear side of the separation limiting plate, a plurality of partition plates are fixedly arranged on the front side of the separation limiting plate in an equidistant manner in the front-rear direction, the bottom of the partition plate is flush with the bottom of the separation limiting plate, a first single-layer drill rod conveying channel is formed between the partition plate, the separation limiting plate, and the inner bottom plane of the drill rod storage basket, a drill rod separation channel is formed between the rear side wall of the separation limiting plate and the inner rear side wall of the drill rod storage basket, a single-row drill rod storage cavity is formed between the separation limiting plate and the partition plate and between two adjacent partition plates, the single-row drill rod storage cavity is in communication with the first single-layer drill rod conveying channel, the first single-layer drill rod conveying channel is in communication with the drill rod separation channel, and the upper parts of the plurality of partition plates are sequentially lowered from the rear to the front; the rear part of the recovery guide plate is hingedly arranged on the upper part of the vertical rod of the L-shaped support arm, the upper part of the recovery guide plate can be pressed against the upper part of the separation limiting plate by the pushing action of a torsional spring, a first photoelectric detection switch for detecting the drill rods moved onto the two L-shaped support arms is arranged on the crawler-type moving frame, and the first photoelectric detection switch is electrically connected to the controller.

3. The automatic pipe handler of claim 2, wherein, The drill rod separation and conveying mechanism comprises a first hydraulic cylinder and conveying chains, the fixed end of the first hydraulic cylinder is hingedly connected to the crawler-type moving frame, the telescopic end of the first hydraulic cylinder is hingedly connected to the lower rear side of the drill rod storage basket, two conveying chains are arranged on the rear side wall of the drill rod storage basket in a left-right direction, a plurality of drill rod supporting plates are arranged on the conveying chains, only one drill rod can be stored between two adjacent drill rod supporting plates, and the drill rod supporting plates can lift the first drill rod at the rear part of the first single-layer drill rod conveying channel into the drill rod separation channel and release the drill rod onto the two L-shaped support arms during the rotation of the conveying chains.

4. The automatic make-and-break mechanism according to any one of claims 1 to 3, characterized in that The swing driving mechanism is a rotary oil cylinder, and the rotary oil cylinder is fixedly arranged on the crawler-type moving frame.

5. The automatic pipe handler of claim 4 wherein, The swing arm comprises a fixed support arm and a telescopic arm, the lower part of the fixed support arm is fixedly arranged on the rotating head of the rotary oil cylinder, the bottom of the telescopic arm is sleeved in the upper part of the fixed support arm, a second hydraulic cylinder is arranged on the fixed support arm for realizing the up-down movement of the telescopic arm, a linear reciprocating driving mechanism is arranged on the telescopic arm, the linear reciprocating driving mechanism can move left and right reciprocally, and a drill rod clamping assembly is arranged on the linear reciprocating driving mechanism, the drill rod clamping assembly comprises a support frame, a clamping jaw and a third hydraulic cylinder, a drill rod groove is arranged on the right side of the upper and lower support plates of the support frame, the two clamping jaws are hingedly arranged between the two support plates, and the third hydraulic cylinder can push the corresponding clamping jaw to press and fix the drill rod in the drill rod groove.

6. The automatic make and break mechanism for drill pipes according to claim 5, characterized in that, in A first angle sensor coaxially rotating with the fixed support arm is arranged on the outside of the fixed support arm, a second angle sensor coaxially rotating with the rotating support shaft of the mast is arranged on the outside of the rotating support shaft of the mast, the first angle sensor and the second angle sensor are fixedly arranged on the tracked mobile vehicle frame, and the first angle sensor and the second angle sensor are electrically connected with the controller.

7. The automatic make-break drill rod handler of any of claims 5-6, wherein, The drill rod butt joint auxiliary guiding and locking mechanism comprises fourth hydraulic cylinders, a sliding sleeve, a rotating connection assembly, guiding blocks and locking blocks, the two fourth hydraulic cylinders are fixedly arranged on the two sides of the lengthened main shaft, the sliding sleeve is sleeved on the lengthened main shaft and can synchronously rotate with the lengthened main shaft, the rotating connection assembly is arranged on the outer side wall of the sliding sleeve and is fixedly connected with the telescopic ends of the two fourth hydraulic cylinders, the inner front side of the sliding sleeve is in a conical shape, three stepped limiting holes are arranged on the front side of the sliding sleeve and are equidistantly distributed along the circumferential direction of the sliding sleeve, each guiding block is sleeved in each stepped limiting hole, the guiding block comprises a limiting block and a hemispherical body, the hemispherical body is fixedly arranged at the bottom of the limiting block and can be pushed out from the bottom of the stepped limiting hole under the pushing of a spring, and the diameter of the inscribed circle between the three hemispherical bodies is equal to the diameter of the end of the conical threaded connection head of the drill rod after the three hemispherical bodies are completely extended in the stepped limiting hole; the locking block is a fan-shaped body cut radially from the outer circle of the lengthened main shaft to the internal thread, three fan-shaped bodies are arranged at the same position as the three stepped limiting holes in the circumferential direction, and the hemispherical body of the guiding block is pressed on the fan-shaped body under the pushing of the spring after the sliding sleeve is retracted to the initial position, so that the fan-shaped body can be pressed on the external thread of the corresponding drill rod.

8. The automatic pipe handler of claim 7, wherein, The rotating connection assembly comprises a deep groove ball bearing, an annular pressing ring, a stop washer, a round nut and an annular chuck, the deep groove ball bearing is sleeved on the shaft shoulder of the sliding sleeve, the annular pressing ring, the stop washer and the round nut are sequentially sleeved on the sliding sleeve, the annular chuck is sleeved on the outer ring of the deep groove ball bearing, a hole stop ring for limiting displacement of the deep groove ball bearing is arranged in the annular chuck, two connecting plates are fixedly arranged on the outer side wall of the annular chuck, and the outer end of each connecting plate is fixedly connected with the telescopic end of a corresponding fourth hydraulic cylinder; a positioning ring located outside the stepped limiting hole is fixedly arranged on the outer side of the sliding sleeve, a threaded hole penetrating through the stepped limiting hole is arranged on the positioning ring, the spring is sleeved in the corresponding threaded hole, and an adjusting bolt for pressing the spring is arranged on the upper portion of the threaded hole.

9. A method of automatically loading and unloading a drill pipe, characterized by, The automatic drill rod loading and unloading mechanism comprises a drill rod automatic loading and unloading mechanism, a drill rod automatic loading method and a drill rod automatic unloading method; before the automatic loading or unloading of the drill rod is performed, under the condition that the drilling angle of the mast is determined, the control of the linear reciprocating drive mechanism is performed by using the control program set in the controller, so that the drill rod clamped on the drill rod clamping assembly can be moved to the drill rod butt joint and dismounting station under the driving of the swing arm; after the position of the drill rod clamping assembly on the swing arm is adjusted according to the drilling inclination angle of the mast, the drill rod automatic loading method comprises the following steps: S1, before the automatic loading of the drill rod is performed, the swing arm is ensured to be located at an initial station, and a certain number of drill rods are ensured to be stored in the drill rod storage basket; S2, the worker sends a drill rod automatic loading instruction to the controller through the control panel. After the controller receives the drill rod automatic loading instruction, the controller drives the first hydraulic cylinder to act. After the first hydraulic cylinder stops acting, the conveying chain is driven to act, and then a drill rod enters the two L-shaped support arms. At this time, the drill rod also enters the two drill rod grooves below. After the first photoelectric detection switch detects the drill rod, the conveying chain stops rotating. At the same time, the controller starts the third hydraulic cylinder to realize the clamping and fixing of the drill rod. Then, the controller starts the rotary oil cylinder to drive the swing arm to move the drill rod to the drill rod butt joint and disassembly station. After the swing arm stops swinging, the controller starts the fourth hydraulic cylinder to drive the sliding sleeve to extend downward. After the sliding sleeve extends to the position, the controller starts the power head and the lengthened spindle to work, so that the power head slowly descends on the mast while the lengthened spindle rotates synchronously. During the slow downward movement of the power head, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle in real time. When the oil inlet pressure value rises and reaches the set threshold value, the controller stops the power head from descending, and the lengthened spindle stops rotating, and the fourth hydraulic cylinder returns to the initial working position. Then, the drill rod clamping assembly releases the drill rod and returns to the initial working position. Then, the power head and the lengthened spindle are started again, so that the drill rod butt joint with the lengthened spindle rotates and slowly moves downward. During the slow downward movement of the drill rod, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle in real time. When the oil inlet pressure value rises and reaches the set threshold value, the controller stops the power head from descending, and the lengthened spindle stops rotating. At this time, the butt joint of the drill rod on the lengthened spindle and the drill rod clamped and fixed by the drill rod hydraulic clamp is completed, and then the automatic butt joint process of one drill rod is completed. After adjusting the position of the drill rod clamping assembly on the swing arm according to the drilling inclination angle of the mast, the drill rod automatic unloading method comprises the following steps: S1, before the automatic unloading of the drill rod, it is ensured that the number of drill rods drilled into the ground is at least two. At the same time, it is ensured that the swing arm is at the initial working position and the drilling machine is in the stopped drilling state. S2, the worker sends a drill rod automatic unloading instruction to the controller through the control panel; after the controller receives the drill rod automatic unloading instruction, the power head is started to drive the drill rod to move upward along the mast to a set position, after the power head stops moving upward, the drill rod hydraulic clamp is started, after the drill rod hydraulic clamp completes the clamping action, the lengthened spindle rotates while the power head slowly and synchronously moves upward by a certain distance, when the power head moves to the position, it stops moving while the lengthened spindle stops rotating, so that the drill rod completely separates from the drill rod clamped by the drill rod hydraulic clamp, then the swing arm drives the drill rod clamping assembly to swing to the drill rod butt joint dismounting station by starting the rotary oil cylinder, after the swing arm stops swinging, the third hydraulic cylinder is started to clamp the drill rod on the butt joint dismounting station, then the controller starts the fourth hydraulic cylinder to make the sliding sleeve extend downward to a set value, so that the hemisphere of the guide block leaves the locking block, the power head and the lengthened spindle are started again, the lengthened spindle rotates to separate from the drill rod while the power head slowly moves upward by a certain distance, after the power head stops moving, the controller starts the rotary oil cylinder again to make the swing arm swing in the reverse direction, during the continuous swinging of the swing arm, the first angle sensor transmits the detected inclination angle value of the swing arm to the controller in real time, when the controller determines that the inclination angle of the swing arm is greater than a set threshold, the clamping jaw releases the clamping of the drill rod, after the clamping jaw releases the clamping of the drill rod, the swing arm and the second hydraulic cylinder return to the initial working position, the drill rod separates from the drill rod clamping assembly under the block of the two recovery guide plates and automatically rolls into the drill rod storage basket, after the swing arm returns to the initial working position, the controller starts the power head and the lengthened spindle to make the power head slowly descend on the mast while the lengthened spindle synchronously rotates, during the slow downward movement of the power head, the controller receives the oil inlet pressure value of the hydraulic motor driving the lengthened spindle to rotate in real time, when the oil inlet pressure value rises and reaches a set threshold, the controller makes the power head stop descending while the lengthened spindle stops rotating, the fourth hydraulic cylinder is started to drive the sliding sleeve to return to the initial position, so that the hemisphere of the guide block is pushed against the locking block by the spring; after the lengthened spindle stops rotating, the drill rod hydraulic clamp releases the clamping of the drill rod; at this time, the unloading work flow of a drill rod is completed.

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