Drill rod loading and unloading operation vehicle

Abstract

The invention discloses a drill rod loading and unloading operation vehicle which comprises a chassis, a cab, a mounting platform, an arm support system and a clamping jaw mechanism. The chassis provides a moving platform and is integrated with an engine and a hydraulic system or a pneumatic system to serve as a power source, the cab is arranged on the chassis, and a walking control system of the whole vehicle and an operation control system of the mechanical arm are arranged in the cab. The arm frame system is installed on an installation platform on the front portion of the chassis, the arm frame system is controlled to work in a hydraulic or pneumatic mode, multiple motion freedom degrees are provided for the clamping jaw mechanism at the tail end of the arm frame system, and the clamping jaw mechanism is installed at the tail end of the arm frame system, composed of a rotary driving mechanism and a clamping mechanism and used for grabbing, positioning and releasing a drill rod. According to the scheme, through a hydraulic or pneumatic driving mode, comprehensive mechanization of drill rod carrying, loading and unloading is achieved, the problems that a manual mode is large in labor intensity, low in efficiency, poor in safety and the like are effectively solved, and the drill rod loading and unloading device has the advantages of being compact in structure, flexible to operate, high in adaptability and low in cost.

Description

Technical Field

[0001] This invention relates to the field of drill pipe loading and unloading technology, specifically to a drill pipe loading and unloading vehicle. Background Technology

[0002] Down-the-hole drilling rigs or large-diameter drilling rigs are widely used in mining, geological exploration, and construction. These rigs require frequent connection and disconnection of drill rods during drilling operations. Currently, the handling, connection, loading and unloading of drill rods are mainly done manually, which has the following significant drawbacks.

[0003] High labor intensity: A single drill pipe can weigh hundreds of kilograms, making manual handling extremely laborious; Low work efficiency: Manual operation is slow and does not match the efficient operation of drilling rigs, affecting the overall construction progress; Significant safety hazards: During the handling of heavy drill pipes, accidents such as crushing, bumping, and twisting injuries are very likely to occur, and operating large hoisting equipment in the confined space near the drilling rig is also highly risky; High dependence on manual labor: The harsh working environment is a huge test for the physical and mental health of workers. Therefore, there is an urgent need for a professional, low-cost, and highly efficient automated alternative. Thus, we have proposed a drill pipe loading and unloading vehicle. Summary of the Invention

[0004] The purpose of this invention is to provide a drill pipe loading and unloading vehicle to solve the problems currently existing in the market as mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a drill pipe loading and unloading vehicle, comprising a chassis, a cab, an installation platform, a boom system, and a gripper mechanism: The chassis, as the vehicle's mobile platform and power base, provides hydraulic or pneumatic power. The driver's cab is mounted on the chassis and integrates the control system; The mounting platform is located on the top of the chassis near the front and is used to mount the boom system. The boom system is installed above the installation platform and is driven by hydraulic or pneumatic actuators. The gripper mechanism, connected to the end of the boom system, is used to grip and release the drill rod and is driven by a hydraulic actuator or a pneumatic actuator.

[0006] Preferably, the boom system includes a rotating base, which is mounted on the top of the mounting platform. A fixed column is fixedly mounted on the top of the rotating base. A first main boom is rotatably connected to the top of the fixed column. A lifting cylinder is rotatably connected to the lower side of the fixed column. The telescopic end of the lifting cylinder is rotatably connected to the lower part of the first main boom near its end. A telescopic arm is telescopically connected to the end of the first main boom away from the fixed column. A telescopic cylinder is installed between the upper part of the telescopic arm near its middle and the upper part of the first main boom. The telescopic arm is rotatably connected to the upper part of the first main boom away from its middle. The telescopic boom is connected to a first auxiliary boom. A first luffing cylinder is rotatably connected between the top of the telescopic boom and the top of the first auxiliary boom. A motor mounting bracket is provided at the end of the first auxiliary boom. The upper and lower sides of the motor mounting bracket are rotatably connected to the first auxiliary boom and the support rod, respectively. An arc-shaped guide frame is fitted on the outer side of the first auxiliary boom near the motor mounting bracket. A second luffing cylinder is rotatably connected between the bottom of the first auxiliary boom and the bottom of the arc-shaped guide frame. The end of the support rod away from the motor mounting bracket is rotatably connected to the bottom of the arc-shaped guide frame. A rotary motor is installed on the side of the motor mounting bracket away from the first auxiliary boom and the support rod.

[0007] Preferably, the gripper mechanism includes a gripping cylinder, which is mounted on the end of a rotary motor. A U-shaped frame is fixedly connected to the end of the gripping cylinder away from the rotary motor. V-shaped grippers are symmetrically and rotatably connected to both sides of the U-shaped frame away from the gripping cylinder. Guide posts are symmetrically and fixedly connected to the inner end of the U-shaped frame. Sliding sleeves are fitted on the guide posts. The telescopic end of the gripping cylinder is fixedly connected to the sliding sleeve. A first transmission rod is symmetrically and rotatably connected to both sides of the sliding sleeve. The end of the first transmission rod away from the sliding sleeve is rotatably connected to the middle of the V-shaped gripper. Anti-slip pads are symmetrically installed on the inner walls of the upper and lower sides of the V-shaped gripper.

[0008] Preferably, the anti-slip mat is made of metal material, and the outer surface of the anti-slip mat is provided with anti-slip protrusions. The anti-slip mat is fixedly connected to the inner wall of the V-shaped gripper by bolt installation.

[0009] Preferably, the boom system further includes a support, a support is fixedly installed on the top of the mounting platform, a rotating column is rotatably connected to the top of the support, a second main boom is rotatably connected to the top of the rotating column, a lifting cylinder is rotatably connected between one side of the rotating column and the end of the second main boom, a second auxiliary boom is rotatably connected to the end of the second main boom away from the rotating column, an operating mounting arm is rotatably connected to the lower part of the end of the second auxiliary boom away from the second main boom, a control panel mounting bracket is fixedly connected to the outer side of the operating mounting arm near the bottom, a control panel is mounted on the end of the control panel mounting bracket away from the operating mounting arm, a rotating cylinder mounting bracket is rotatably connected to the bottom end of the second auxiliary boom, a tilting cylinder is rotatably connected between the second auxiliary boom and the rotating cylinder mounting bracket, a rotating cylinder is mounted on the side of the rotating cylinder mounting bracket near the middle, and the rotation structure of the rotating column, the second auxiliary boom, and the operating mounting arm is limited by a locking mechanism.

[0010] Preferably, the gripper mechanism further includes a gripper mounting frame. The gripper mounting frame is rotatably connected to the side of the rotary cylinder mounting frame away from the rotary cylinder. The shaft end of the rotary cylinder is fixedly connected to the gripper mounting frame. Clamping cylinders are symmetrically mounted on the upper and lower sides of the gripper mounting frame away from the rotary cylinder mounting frame. Mounting rods are symmetrically fixedly connected to the four sides of the gripper mounting frame near the clamping cylinders. A fixing frame is fixedly connected to the end of the mounting rod away from the gripper mounting frame. Clamping arms are symmetrically rotatably connected to both sides of the fixing frame. A transmission frame is provided between the clamping arms. The telescopic end of the clamping cylinder is fixedly connected to the transmission frame. Second transmission rods are symmetrically rotatably connected to both sides of the transmission frame. The end of the second transmission rod away from the transmission frame is rotatably connected to the clamping arm. A V-shaped clamping frame is installed on the inner side of the clamping arm near the end.

[0011] Preferably, the locking mechanism includes a brake disc, a brake disc is fixedly connected to the outer side of the support near the rotating column, a brake disc is also fixedly connected to the outer side of the rotating shaft of the second auxiliary arm, a brake disc is also fixedly connected to the outer side of the operating mounting arm near the second auxiliary arm, and a pneumatic clamping frame is installed on the rotating column, the second main arm, and the second auxiliary arm on the side corresponding to the brake disc, and a brake pad is installed on the inner side of the pneumatic clamping frame near the brake disc.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention discloses a work vehicle comprising a chassis, a cab, a boom system, and a gripper mechanism. The chassis provides a mobile platform and integrates an engine and a hydraulic or pneumatic system as a power source. The cab is mounted on the chassis and houses the vehicle's walking control system and the robotic arm's operation control system. The boom system is mounted on a mounting platform at the front of the chassis and operates via hydraulic or pneumatic control, providing multiple degrees of freedom for the gripper mechanism at the end of the boom system. The gripper mechanism, mounted at the end of the boom system, consists of a rotary drive mechanism and a clamping mechanism, used for gripping, positioning, and releasing drill rods. This solution achieves full mechanization of drill rod handling and loading / unloading through hydraulic or pneumatic drive.

[0013] This invention utilizes a pneumatic or hydraulically driven robotic arm to complete all actions. The operator only needs to easily operate the handle to complete the handling and loading / unloading of heavy drill rods, which greatly reduces labor intensity and physically isolates the operator from the heavy object handling process, fundamentally avoiding the risk of accidents such as crushing and twisting that may be caused by direct manual handling, and significantly improving operational safety.

[0014] The invention features a device based on a vehicle chassis, which is easy to move. The mechanical arm has a compact structure and can operate flexibly in the limited space around the drilling rig. Its multi-degree-of-freedom design allows it to cover multiple work positions such as the drill pipe storage rack and the drilling rig power head, meeting the positional requirements of different heights and angles.

[0015] This invention employs a pneumatic control method, which can be controlled via a control panel located near the drill pipe installation position for easy operator observation. This conforms to ergonomic principles, is intuitive and simple, and allows operators to be trained quickly, thus lowering the barrier to entry. Similarly, the hydraulic control method features a centralized control system within the cab, with the control handle layout also conforming to ergonomic principles. This intuitive and simple design allows operators to be trained quickly, again lowering the barrier to entry. Attached Figure Description

[0016] Figure 1 This is a front view structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a schematic diagram of the hydraulic gripper mechanism of the present invention; Figure 4 This is a schematic diagram of the boom system structure of the present invention; Figure 5 This is a side view of the three-dimensional structure of the present invention; Figure 6 This is a schematic diagram of the pneumatic gripper mechanism of the present invention; Figure 7 For the present invention Figure 5 A magnified schematic diagram of part A in the middle.

[0017] In the diagram: 1. Chassis; 2. Cab; 3. Mounting platform; 4. Rotary seat; 5. Fixed column; 6. First main boom; 7. Lifting cylinder; 8. Telescopic boom; 9. Telescopic cylinder; 10. First auxiliary boom; 11. First luffing cylinder; 12. Motor mounting bracket; 13. Support rod; 14. Arc-shaped guide frame; 15. Second luffing cylinder; 16. Rotary motor; 17. Clamping cylinder; 18. U-shaped frame; 19. V-shaped gripper; 20. Guide column; 21. Sliding sleeve; 22. First drive rod; 23. Anti-slip mat; 24. 25. Support; 26. Rotating column; 27. Second main boom; 28. Lifting cylinder; 29. ​​Second auxiliary boom; 30. Operating mounting arm; 31. Control panel mounting bracket; 32. Control panel; 33. Rotating cylinder mounting bracket; 34. Tilting cylinder; 35. Gripper mounting bracket; 36. Clamping cylinder; 37. Mounting rod; 38. Fixing bracket; 39. Clamping arm; 40. Transmission frame; 41. Second transmission rod; 42. V-shaped clamping frame; 43. Brake disc; 44. Pneumatic clamping frame; 45. Brake pad. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1: Please see Figures 1 to 4 The present invention provides a technical solution: a drill pipe loading and unloading vehicle, comprising a chassis 1, a cab 2, an installation platform 3, a boom system, and a gripper mechanism. Chassis 1, serving as the vehicle's mobile platform and power base, provides hydraulic power; The driver's cab 2 is mounted on the chassis 1 and integrates the control system; Mounting platform 3 is located on the top of chassis 1 near the front and is used to mount the boom system; The boom system is installed above the mounting platform 3 and is driven by hydraulic actuators; The gripper mechanism, connected to the end of the boom system, is used to grip and release drill rods and is driven by hydraulic actuators.

[0020] Please see Figures 1 to 4The boom system includes a rotating base 4, which is mounted on the top of the mounting platform 3. A fixed column 5 is fixedly mounted on the top of the rotating base 4. A first main boom 6 is rotatably connected to the top of the fixed column 5. A lifting cylinder 7 is rotatably connected to the lower side of the fixed column 5. The telescopic end of the lifting cylinder 7 is rotatably connected to the lower part of the first main boom 6 near its end. A telescopic boom 8 is telescopically connected to the end of the first main boom 6 away from the fixed column 5. A telescopic cylinder 9 is installed between the upper part of the telescopic boom 8 near its middle and the upper part of the first main boom 6. A first auxiliary boom 10 is rotatably connected to the end of the telescopic boom 8 away from the first main boom 6. The upper part of the telescopic boom 8 is connected to... A first luffing cylinder 11 is rotatably connected between the top ends of the first auxiliary boom 10. A motor mounting bracket 12 is provided at the end of the first auxiliary boom 10. The upper and lower sides of the motor mounting bracket 12 are rotatably connected to the first auxiliary boom 10 and the support rod 13, respectively. An arc-shaped guide frame 14 is fitted on the outer side of the first auxiliary boom 10 near the motor mounting bracket 12. A second luffing cylinder 15 is rotatably connected between the bottom of the first auxiliary boom 10 and the bottom end of the arc-shaped guide frame 14. The end of the support rod 13 away from the motor mounting bracket 12 is rotatably connected to the bottom end of the arc-shaped guide frame 14. A rotary motor 16 is installed on the side of the motor mounting bracket 12 away from the first auxiliary boom 10 and the support rod 13. Please see Figures 1 to 4 The gripper mechanism includes a gripping cylinder 17, which is installed at the end of a rotary motor 16. A U-shaped frame 18 is fixedly connected to the end of the gripping cylinder 17 away from the rotary motor 16. V-shaped grippers 19 are symmetrically and rotatably connected to both sides of the U-shaped frame 18 away from the gripping cylinder 17. Guide posts 20 are symmetrically and fixedly connected to the inner end of the U-shaped frame 18. A sliding sleeve 21 is fitted on the guide post 20. The telescopic end of the gripping cylinder 17 is fixedly connected to the sliding sleeve 21. A first transmission rod 22 is symmetrically and rotatably connected to both sides of the sliding sleeve 21. The end of the first transmission rod 22 away from the sliding sleeve 21 is rotatably connected to the middle of the V-shaped gripper 19. Anti-slip pads 23 are symmetrically installed on the inner walls of the upper and lower sides of the V-shaped gripper 19. The anti-slip pads 23 are made of metal and have anti-slip protrusions on their outer surface. The anti-slip pads 23 are fixedly connected to the inner wall of the V-shaped gripper 19 by bolt installation. The chassis 1 is controlled to move by the control system inside the cab 2, and the hydraulic system is also controlled by the control system. The lifting cylinder 7 drives the first main boom 6 to rotate around its top as a fulcrum. The telescopic cylinder 9 drives the telescopic boom 8 to extend and retract laterally. The first luffing cylinder 11 drives the first auxiliary boom 10 to rotate around its end as a fulcrum. The second luffing cylinder 15, in conjunction with the arc-shaped guide frame 14 and the support rod 13, drives the motor mounting frame 12 to rotate around its end as a fulcrum. The gripper mechanism is installed at the execution end of the rotary motor 16, which drives the gripper mechanism to rotate as a whole. The gripper mechanism is installed at the execution end of the boom system. The hydraulic system is controlled by the control system, which provides multiple degrees of freedom for the gripper mechanism. When the clamping cylinder 17 is working, it drives the sliding sleeve 21 to move. The sliding sleeve 21 drives the V-shaped gripper 19 to open and close through the first transmission rod 22, so as to clamp or release the drill rod. The multi-degree-of-freedom moving gripper mechanism facilitates the installation or removal of the drill rod.

[0021] Example 2: Please see Figures 5 to 7 The difference between Embodiment 2 and Embodiment 1 is that the structures of the boom system and gripper mechanism are different. In this embodiment, the chassis 1 provides pneumatic power for the boom system and gripper mechanism, which are driven by pneumatic actuators.

[0022] Please see Figures 5 to 7 The boom system also includes a support 24. The support 24 is fixedly installed on the top of the mounting platform 3. A rotating column 25 is rotatably connected to the top of the support 24. A second main boom 26 is rotatably connected to the top of the rotating column 25. A lifting cylinder 27 is rotatably connected between one side of the rotating column 25 and the end of the second main boom 26. A second auxiliary boom 28 is rotatably connected to the end of the second main boom 26 away from the rotating column 25. An operating mounting arm 29 is rotatably connected to the lower part of the second auxiliary boom 28 away from the second main boom 26. The operating mounting arm 29 is located near the lower part of the second main boom 26. A control panel mounting bracket 30 is fixedly connected to the outer side of the square arm. A control panel 31 is mounted on the end of the control panel mounting bracket 30 away from the operating mounting arm 29. A rotary cylinder mounting bracket 32 ​​is rotatably connected to the bottom end of the second auxiliary arm 28. A tilting cylinder 33 is rotatably connected between the second auxiliary arm 28 and the rotary cylinder mounting bracket 32. A rotary cylinder 34 is mounted on the side of the rotary cylinder mounting bracket 32 ​​near the middle. The rotation structure of the rotating column 25, the second auxiliary arm 28 and the operating mounting arm 29 is limited by a locking mechanism. Please see Figures 5 to 7The gripper mechanism also includes a gripper mounting bracket 35. A gripper mounting bracket 35 is rotatably connected to the side of a rotary cylinder mounting bracket 32 ​​away from the rotary cylinder 34. The shaft end of the rotary cylinder 34 is fixedly connected to the gripper mounting bracket 35. Grip cylinders 36 are symmetrically mounted on the upper and lower sides of the gripper mounting bracket 35 away from the rotary cylinder mounting bracket 32. Mounting rods 37 are symmetrically fixedly connected to the four sides of the gripper mounting bracket 35 near the gripping cylinders 36. A fixing bracket 38 is fixedly connected to the end of the mounting rods 37 away from the gripper mounting bracket 35. Grip arms 39 are symmetrically rotatably connected to both sides of the fixing bracket 38. A transmission frame 40 is provided between the gripping arms 39. The telescopic end of the gripping cylinder 36 is fixedly connected to the transmission frame 40. A second transmission rod 41 is symmetrically rotatably connected. The end of the second transmission rod 41 away from the transmission frame 40 is rotatably connected to the clamping arm 39. A V-shaped clamping frame 42 is installed on the inner side of the clamping arm 39 near the end. The locking mechanism includes a brake disc 43. The brake disc 43 is fixedly connected to the outer side of the support 24 near the rotating column 25. The brake disc 43 is also fixedly connected to the outer side of the rotating shaft of the second auxiliary arm 28. The brake disc 43 is also fixedly connected to the outer side of the operating mounting arm 29 near the second auxiliary arm 28. A pneumatic clamping frame 44 is installed on the side of the rotating column 25, the second main arm 26, and the second auxiliary arm 28 corresponding to the brake disc 43. A brake pad 45 is installed on the inner side of the pneumatic clamping frame 44 near the brake disc 43. The chassis 1 is controlled to move by the control system inside the cab 2, and the pneumatic mechanism is controlled by the control system and control panel 31. The lifting cylinder 27 drives the second main arm 26 to rotate up and down. The tilting cylinder 33 drives the rotating cylinder mounting bracket 32 ​​to rotate around the bottom of the second auxiliary arm 28. The rotating cylinder 34 drives the entire gripper mechanism to rotate. When the gripper mechanism is working, the clamping cylinder 36 controls the transmission frame 40 to move. When the transmission frame 40 moves, it drives the clamping arm 39 to open and close through the second transmission rod 41. The clamping arm 39 clamps or releases the drill rod through the V-shaped clamping frame 42. The pneumatic clamping frame 44 is controlled to open and close by the control system and control panel 31. When the pneumatic clamping frame 44 opens, it drives the brake pad 45 away from the brake disc 43, so that the rotating column 25, the second auxiliary arm 28 and the operating mounting arm 29 can rotate. The lifting cylinder 27, the tilting cylinder 33 and the rotating cylinder 34 can provide multiple degrees of freedom of movement for the gripper mechanism.

[0023] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drill pipe loading and unloading vehicle, comprising a chassis (1), a cab (2), an installation platform (3), a boom system, and a gripper mechanism, characterized in that: The chassis (1) serves as the vehicle's mobile platform and power base, providing hydraulic or pneumatic power. The driver's cab (2) is mounted on the chassis (1) and integrates a control system; The mounting platform (3) is located on the top of the chassis (1) near the front and is used to mount the boom system; The boom system is installed above the installation platform (3) and is driven by hydraulic or pneumatic actuators; The gripper mechanism, connected to the end of the boom system, is used to grip and release the drill rod and is driven by a hydraulic actuator or a pneumatic actuator.

2. The drill pipe loading and unloading vehicle according to claim 1, characterized in that: The boom system includes a rotating base (4), the top of the mounting platform (3) is equipped with the rotating base (4), the top of the rotating base (4) is fixedly equipped with a fixed column (5), the top of the fixed column (5) is rotatably connected to a first main boom (6), the fixed column (5) is rotatably connected to a lifting cylinder (7) near the lower side, the telescopic end of the lifting cylinder (7) is rotatably connected to the lower part of the first main boom (6) near the end, the end of the first main boom (6) away from the fixed column (5) is telescopically connected to a telescopic arm (8), the upper part of the telescopic arm (8) near the middle is equipped with a telescopic cylinder (9) between the upper part of the telescopic arm (8) and the upper part of the first main boom (6), the end of the telescopic arm (8) away from the first main boom (6) is rotatably connected to a first auxiliary boom (10), the telescopic arm ( 8) A first luffing cylinder (11) is rotatably connected between the top of the first auxiliary arm (10) and the top of the first auxiliary arm (10). A motor mounting bracket (12) is provided at the end of the first auxiliary arm (10). The upper and lower sides of the motor mounting bracket (12) are rotatably connected to the first auxiliary arm (10) and the support rod (13) respectively. An arc-shaped guide frame (14) is fitted on the outer side of the first auxiliary arm (10) near the motor mounting bracket (12). A second luffing cylinder (15) is rotatably connected between the bottom of the first auxiliary arm (10) and the bottom of the arc-shaped guide frame (14). The end of the support rod (13) away from the motor mounting bracket (12) is rotatably connected to the bottom of the arc-shaped guide frame (14). A rotary motor (16) is installed on the side of the motor mounting bracket (12) away from the first auxiliary arm (10) and the support rod (13).

3. The drill pipe loading and unloading vehicle according to claim 2, characterized in that: The gripper mechanism includes a gripping cylinder (17), which is installed at the end of a rotary motor (16). A U-shaped frame (18) is fixedly connected to the end of the gripping cylinder (17) away from the rotary motor (16). V-shaped grippers (19) are symmetrically rotatably connected to both sides of the U-shaped frame (18) away from the gripping cylinder (17). Guide posts (20) are symmetrically fixedly connected to the inner end of the U-shaped frame (18). A sliding sleeve (21) is fitted on the guide post (20). The telescopic end of the gripping cylinder (17) is fixedly connected to the sliding sleeve (21). A first transmission rod (22) is symmetrically rotatably connected to both sides of the sliding sleeve (21). The end of the first transmission rod (22) away from the sliding sleeve (21) is rotatably connected to the middle of the V-shaped gripper (19). Anti-slip pads (23) are symmetrically installed on the inner walls of the upper and lower sides of the V-shaped gripper (19).

4. The drill pipe loading and unloading vehicle according to claim 3, characterized in that: The anti-slip pad (23) is made of metal material, and the outer surface of the anti-slip pad (23) is provided with anti-slip protrusions. The anti-slip pad (23) is fixedly connected to the inner wall of the V-shaped claw (19) by bolt installation.

5. The drill pipe loading and unloading vehicle according to claim 1, characterized in that: The boom system also includes a support (24), on the top of the mounting platform (3) the support (24) is fixedly installed, the top of the support (24) is rotatably connected to a rotating column (25), the top of the rotating column (25) is rotatably connected to a second main boom (26), a lifting cylinder (27) is rotatably connected between one side of the rotating column (25) and the end of the second main boom (26), a second auxiliary boom (28) is rotatably connected to the end of the second main boom (26) away from the rotating column (25), and an operating mounting arm (29) is rotatably connected below the end of the second auxiliary boom (28) away from the second main boom (26). 29) A control panel mounting bracket (30) is fixedly connected to the outer side near the bottom. A control panel (31) is installed on the end of the control panel mounting bracket (30) away from the operating mounting arm (29). A rotary cylinder mounting bracket (32) is rotatably connected to the bottom end of the second auxiliary arm (28). A flip cylinder (33) is rotatably connected between the second auxiliary arm (28) and the rotary cylinder mounting bracket (32). A rotary cylinder (34) is installed on the side of the rotary cylinder mounting bracket (32) near the middle. The rotation structure of the rotating column (25), the second auxiliary arm (28) and the operating mounting arm (29) is limited by a locking mechanism.

6. The drill pipe loading and unloading vehicle according to claim 5, characterized in that: The gripper mechanism also includes a gripper mounting bracket (35). The gripper mounting bracket (35) is rotatably connected to the side of the rotary cylinder mounting bracket (32) away from the rotary cylinder (34). The shaft end of the rotary cylinder (34) is fixedly connected to the gripper mounting bracket (35). Clamping cylinders (36) are symmetrically mounted on the upper and lower sides of the gripper mounting bracket (35) away from the rotary cylinder mounting bracket (32). Mounting rods (37) are symmetrically fixedly connected to the four sides of the gripper mounting bracket (35) near the clamping cylinders (36). The mounting rods (37) are located away from the gripper mounting bracket (32). 35) A fixed frame (38) is fixedly connected to one end. Clamping arms (39) are symmetrically and rotatably connected to both sides of the fixed frame (38). A transmission frame (40) is provided between the clamping arms (39). The telescopic end of the clamping cylinder (36) is fixedly connected to the transmission frame (40). A second transmission rod (41) is symmetrically and rotatably connected to both sides of the transmission frame (40). The end of the second transmission rod (41) away from the transmission frame (40) is rotatably connected to the clamping arm (39). A V-shaped clamping frame (42) is installed on the inner side of the clamping arm (39) near the end.

7. The drill pipe loading and unloading vehicle according to claim 5, characterized in that: The locking mechanism includes a brake disc (43). The support (24) is fixedly connected to the outer side of the rotating column (25). The outer side of the rotating shaft of the second auxiliary arm (28) is also fixedly connected to a brake disc (43). The operating mounting arm (29) is also fixedly connected to the outer side of the second auxiliary arm (28). The rotating column (25), the second main arm (26), and the second auxiliary arm (28) are all equipped with pneumatic clamping frames (44) on the side corresponding to the brake disc (43). The pneumatic clamping frame (44) is equipped with brake pads (45) on the inner side of the brake disc (43).

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