Drill rod lifting mechanism, auxiliary continuous drill rod replacement device and control method

Abstract

The present invention discloses a drill rod lifting mechanism, an auxiliary continuous drill rod changing device and a control method. The drill rod lifting mechanism is provided with a platform, a position adjustment mechanism is provided on the platform, a drill rod conveying body is mounted on the position adjustment mechanism, a drill rod placing seat is mounted on the drill rod conveying body; the drill rod placing seat is transported along the drill rod conveying body, and the conveying mode of the drill rod conveying body is scraper transportation; the position adjustment mechanism drives the drill rod conveying body to realize position adjustment in three-dimensional space. The device is flexible in movement, safe and reliable in operation; it has multiple degrees of freedom, can be flexibly arranged according to the site space, and has strong adaptability to the tunnel; no manual loading is required during construction, which can liberate labor to the maximum extent, reduce the auxiliary operation time, and improve the rod changing efficiency of the drilling rig.

Description

Technical Field

[0001] The invention relates to the technical field of drilling, in particular to a drill rod lifting mechanism, an auxiliary continuous drill rod changing device and a control method. Background Art

[0002] Power head drilling rigs are widely used in drilling construction such as water exploration and drainage, gas extraction, top and bottom plate grouting, geological structure exploration, etc. In recent years, with the rapid development of intelligent technology and the continuous improvement of the level of intelligence, power head drilling rigs have also been upgraded to automation and intelligence, and the automatic rod changing device has become the basic configuration of the new generation of power head drilling rigs. The structure of the automatic rod changing device of the power head drilling rig is different according to different usage requirements. At present, most drilling rigs use an automatic rod changing device composed of a manipulator and a pallet, which has a simple structure, stable and reliable operation, low labor intensity of workers, and high rod changing efficiency. However, due to the limitations of underground use conditions, the size of the pallet equipped with the drilling rig is small, and the number of drill rods stored is also small. When the drill rods in the pallet are used up, they still need to be manually loaded, which does not maximize the liberation of labor, increases the auxiliary time of the operation, and to some extent affects the rod changing efficiency of the drilling rig.

[0003] To this end, in view of the above-mentioned defects, the designers of the present invention have devoted themselves to research and design, and combined the experience and achievements of many years in related industries to research and design a power head type drilling rig assisted continuous drill rod changing device and control method to overcome the above-mentioned defects. Summary of the invention

[0004] The purpose of the present invention is to provide a drill rod lifting mechanism, an auxiliary continuous drill rod changing device and a control method, which are flexible in movement, safe and reliable in operation.

[0005] Specifically, the scheme of the present invention is:

[0006] A drill rod lifting mechanism is provided, wherein a platform is provided, a position adjustment mechanism is provided on the platform, a drill rod conveying body is mounted on the position adjustment mechanism, and a drill rod placing seat is mounted on the drill rod conveying body;

[0007] The drill pipe placement seat is transported along the drill pipe conveying body, and the conveying method of the drill pipe conveying body is scraper transportation;

[0008] The position adjustment mechanism drives the drill pipe transmission body to achieve position adjustment in three-dimensional space.

[0009] Optionally, the drill rod placement seat provides radial floating support and axial clamping limit for the drill rod; at the same time, the drill rod placement seat also provides position adjustment in three-dimensional space.

[0010] Optionally, the drill rod placement seat is provided with a swing limit platform, and a first clamping body and a second clamping body are inserted in parallel and staggered with the swing limit platform surface;

[0011] The first moving body is installed at the insertion end of the first clamping body, and the second moving body is installed at the insertion end of the second clamping body. The first moving body and the second moving body are driven by the clamping oil cylinder to realize axial movement.

[0012] A fixed platform is also hingedly arranged under the swing limit platform, and a swing oil cylinder is arranged between the fixed platform and the swing limit platform.

[0013] Optionally, a plurality of supporting columns are embedded on the swing limit platform, and springs are arranged under the supporting columns.

[0014] Optionally, the drill rod conveying body is a "Z"-shaped scraper transport body; a scraper is provided on the drill rod conveying body, and the drill rod placement seat is installed on the scraper; a right-angled support frame is fixed on the side of the drill rod conveying body, and the drill rod conveying body is mounted on the position adjustment mechanism through the support frame.

[0015] Optionally, the position adjustment mechanism is provided with an adjustment cylinder, and a lifting and locking mechanism is installed on the adjustment cylinder; a first stabilizing cylinder and a second stabilizing cylinder are respectively provided at the ends of the lifting and locking mechanism; and an inclined screw assembly is provided on the lifting and locking mechanism for carrying the drill rod conveying body.

[0016] Optionally, the lifting and locking mechanism is provided with an intermediate body, the two ends of the intermediate body are connected to the crossbeam, and the end of the crossbeam is connected to the first clamping body; the first clamping body is respectively sleeved on the first stabilizing cylinder and the second stabilizing cylinder; the intermediate body is installed on the adjusting cylinder.

[0017] Optionally, the oblique-stayed screw rod assembly is provided with a second clamping body and a stud which are connected in sequence; the second clamping body is sleeved on the crossbeam, and the stud is passed through the drill rod transmission body.

[0018] An auxiliary continuous drill rod replacement device is provided, comprising a crawler vehicle body and a drilling rig platform, on which a drill rod lifting mechanism, a transfer mechanism, an electric control box, a main control valve and a motor pump group are arranged; the drill rod lifting mechanism is the drill rod lifting mechanism of the present invention.

[0019] A control method for an auxiliary continuous drill rod changing device comprises the following steps:

[0020] (1) When the drilling site is relatively large and the drilling rig A is used for horizontal drilling, the drilling rig A and the auxiliary continuous drill rod changing device B can be arranged vertically. The rod control method is as follows:

[0021] ① Alignment: Loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, and adjust the oil cylinder 42 to make the height of the drill pipe conveying body 1 higher than the tray of the drilling rig A. After reaching the position, fix the first clamping body 443;

[0022] ②Rod transfer: The drill rod 5 is transferred from the drill rod box to the drill rod placement seat 3 through the rod transfer mechanism b;

[0023] ③ Fixing the rod: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod 5. At this time, the support column 311 drops under the gravity of the drill rod 5, and the spring 312 is in a compressed state;

[0024] ④ Lifting the rod: the drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move;

[0025] ⑤ Rod placement: When the drill rod placement seat 3 reaches the front end of the drill rod conveying body 1, the opening is in a horizontal state, the clamping cylinder 36 is released, and the drill rod 5 pops outward under the action of the restoring force of the spring 312 and falls on the tray of the drilling rig A, and the drill rod placement seat 3 returns to the initial position;

[0026] ⑥Pipe raising: Drilling machine A places the drill rod 5 between the rotator and the clamp through the manipulator to complete the pipe raising;

[0027] ⑦ Repeat: Repeat ① to ⑥ to complete the continuous swing;

[0028] After drilling rig A completes the drilling, it starts to unload the rods:

[0029] ① Alignment: adjust the angle of the tray of the drilling rig A so that it is tilted downward; loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, and adjust the oil cylinder 42 to make the height of the drill rod conveying body 1 lower than the tray of the drilling rig A. After reaching the position, fix the first clamping body 443;

[0030] ② Slide rod: Place the drill rod placement seat 3 at the front end of the drill rod conveyor 1, with the opening in a vertical state. The drilling rig A places the drill rod 5 on the tray through a manipulator and slides it onto the drill rod placement seat 3 at an angle;

[0031] ③ Rod fixing: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod;

[0032] ④ Rod lowering: The drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move to the initial position for placing the drill rod;

[0033] ⑤Rod transfer: The drill rod 5 is transferred from the drill rod placement seat 3 to the drill rod box through the rod transfer mechanism b, and the drill rod placement seat 3 returns to the front end of the lifting body;

[0034] ⑥Repeat: Repeat ①~⑤ to complete the continuous downswing;

[0035] (2) When the drilling site is relatively large and the drilling rig A is used for drilling at an elevation angle, the drilling rig A and the auxiliary continuous drill rod changing device (B) can be arranged vertically. The rod control method is as follows:

[0036] ① Alignment: Loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, the nuts on the studs 432 in the inclined screw rod 43, and the bolts of the second clamping body 431. By adjusting the different lifting heights of the two adjustment cylinders 42, the inclination angle of the drill pipe transmission body 1 is made the same as the inclination angle of the main engine of the drilling rig A, but the height is higher than the tray of the drilling rig A. After reaching the position, fix the nuts of the first clamping body 443, the second clamping body 431, and the inclined screw rod 43;

[0037] ②Rod transfer: Since the drill rod conveyor 1 is tilted, the swing cylinder 35 of the drill rod placement seat 3 needs to be adjusted to make the swing limit platform 31 on its upper part horizontal. At this time, the drill rod 5 is transferred from the drill rod box to the drill rod placement seat 3 through the rod transfer mechanism b;

[0038] ③ Fixing the rod: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod. At this time, the support column 311 drops under the gravity of the drill rod 5, and the spring 312 is in a compressed state;

[0039] ④ Lifting the rod: the drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move; at the same time, the swing limit table 31 in the drill rod placement seat 3 moves under the action of the swing cylinder 35, so that the inclination angle of the swing limit table 31 is the same as that of the drill rod conveyor 1;

[0040] ⑤ Rod placement: When the drill rod placement seat 3 reaches the front end of the drill rod conveyor 1, the opening is in a relatively horizontal state, the clamping cylinder 36 is released, and the drill rod 5 pops outward under the action of the restoring force of the spring 312 and falls on the tray of the drilling rig A. At the same time, the drill rod placement seat 3 makes the swing limit platform 31 horizontal under the action of the internal swing cylinder 35, and returns to the initial position under the action of the scraper 12;

[0041] ⑥Pipe raising: Drilling machine A places the drill rod 5 between the rotator and the clamp through the manipulator to complete the pipe raising;

[0042] ⑦ Repeat: Repeat ① to ⑥ to complete the continuous swing;

[0043] After drilling rig A completes the drilling, it starts to unload the rods:

[0044] ① Alignment: adjust the angle of the tray of the drilling rig A so that it is tilted downward; loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, the nuts on the studs 432 in the inclined screw rod 43, and the bolts of the second clamping body 431, and make the inclination angle of the drill pipe transmission body 1 the same as the inclination angle of the main engine of the drilling rig A through the different descending heights of the two adjustment cylinders 42, but the height is lower than the tray of the drilling rig A, and fix the first clamping body 443, the second clamping body 431 and the nuts of the inclined screw rod 43 after reaching the position;

[0045] ② Slide rod: Place the drill rod placement seat 3 at the front end of the drill rod transmission body 1, and swing the limit platform 31 to the same angle as the main engine inclination of the drilling rig A. The drilling rig A places the drill rod 5 on the tray through the manipulator and slides it to the drill rod placement seat 3 at an angle;

[0046] ③ Rod fixing: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod;

[0047] ④ Rod lowering: the drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move to the initial position. At the same time, the swing limit platform 31 is in a horizontal position under the action of the swing cylinder 35;

[0048] ⑤Rod transfer: The drill rod 5 is transferred from the drill rod placement seat 3 to the drill rod box through the rod transfer mechanism b, and the drill rod placement seat 3 returns to the front end of the lifting body;

[0049] ⑥Repeat: Repeat ①~⑤ to complete the continuous downswing;

[0050] (2) When the drilling site space is relatively small, the drilling rig A and the auxiliary continuous drill rod changing device B can be arranged in parallel. The rod changing control method is the same as when the two machines are arranged vertically, and the rotation step is added, which specifically includes:

[0051] The rod raising control method is to increase the drilling rod transmission body 1 to rotate 90 degrees under the action of the rotary mechanism 22 during the ④ rod raising process, and increase the drilling rod transmission body 1 to return to the initial position under the action of the rotary mechanism 22 during the ⑤ rod lowering process;

[0052] The rod lowering control method includes: in the ② rod sliding process, the drill rod conveying body 1 is rotated 90° under the action of the rotary mechanism 22; in the ④ rod lowering process, the drill rod conveying body 1 is returned to the initial position under the action of the rotary mechanism 22.

[0053] The beneficial effects of the present invention are:

[0054] It has the characteristics of flexible mobility, good safety and reliable operation; it has multiple degrees of freedom, can be flexibly arranged according to the site space, and has strong adaptability to tunnels; it does not require manual loading, which frees up labor to the maximum extent, reduces operation auxiliary time, and improves the rod changing efficiency of the drilling rig. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0056] Figure 1 It is a structural schematic diagram of the drill rod lifting mechanism of the present invention;

[0057] Figure 2 for Figure 1A three-dimensional diagram of the drill pipe placement seat structure;

[0058] Figure 3 for Figure 2 A longitudinal cross-sectional view of

[0059] Figure 4 for Figure 1 A schematic diagram of the structure of the drill pipe transmission body;

[0060] Figure 5 for Figure 1 A schematic diagram of the lifting and locking mechanism structure;

[0061] Figure 6 for Figure 1 Schematic diagram of the structure of the inclined screw assembly;

[0062] Figure 7 It is a structural schematic diagram of the auxiliary continuous drill rod changing device of the present invention;

[0063] Figure 8 The auxiliary continuous drill rod changing device of the present invention cooperates with the drilling rig to realize the continuous drill rod changing working condition diagram (the traveling direction is vertical);

[0064] Fig. 9 The auxiliary continuous drill rod changing device of the present invention cooperates with the drilling rig to realize the continuous drill rod changing working condition diagram (the traveling direction is parallel);

[0065] The symbols in the figure represent:

[0066] 1-drill pipe transmission body, 11-support frame, 12-scraper, 2-platform, 21-stable seat, 22-rotating mechanism, 3-drill pipe placement seat, 31-swing limit platform, 311-support column, 312-spring, 32-first clamping body, 33-second clamping body, 34-fixed platform, 35-swing cylinder, 36-clamping cylinder, 37-first moving body, 38-second moving body, 4-position adjustment mechanism, 41-first stable cylinder, 42-adjusting cylinder, 43-oblique screw assembly, 431-second clamping body, 432-stud, 44-lifting locking mechanism, 441-intermediate body, 442-crossbeam, 443-first clamping body, 45-second stable cylinder; 5-drill pipe;

[0067] a-drill rod lifting mechanism, b-transport mechanism, c-electric control box, d-drilling rig platform, e-crawler body, f-main control valve, g-motor pump group;

[0068] A-drilling rig, B-auxiliary continuous drill rod changing device. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] Combination Figure 1-6 The drill rod lifting mechanism of the present invention is provided with a platform 2, a position adjustment mechanism 4 is provided on the platform 2, a drill rod conveying body 1 is mounted on the position adjustment mechanism 4, and a drill rod placing seat 3 is mounted on the drill rod conveying body 1; the drill rod placing seat 3 is transported along the drill rod conveying body 1, and the conveying mode of the drill rod conveying body 1 is scraper transportation; the position adjustment mechanism 4 drives the drill rod conveying body 1 to achieve position adjustment in three-dimensional space. The position adjustment in three-dimensional space mentioned in the present invention includes longitudinal (y-direction) height adjustment, transverse (x-direction) tilt angle, and deflection angle perpendicular to the transverse (z-direction), so as to achieve position adjustment at various angles and heights, and is flexibly applicable to on-site operation. The working principle of scraper conveying is to use an open chute as a bearing member for coal, gangue or materials, and to fix the scraper on a chain (forming a scraper chain) as a traction member. When the head transmission part is started, the sprocket on the head shaft is driven to rotate, so that the scraper chain circulates and drives the material to move along the chute until it is unloaded at the head. The scraper chain bypasses the sprocket to perform stepless closed loop operation to complete the material transportation. The scraper conveying used in the present invention adopts this principle to realize the conveying of the drill rod placement seat 3 along the drill rod conveying body 1, and at the same time cooperates with the three-dimensional angle adjustment of the position adjustment mechanism 4 to realize the adjustment of the conveying angle of the drill rod conveying body 1, the drill rod placement seat 3 and the drill rod 5 thereon to adapt to the drilling rigs A at different positions.

[0071] In the embodiment of the present disclosure, the drill rod placement seat 3 provides radial floating support and axial clamping limit for the drill rod; at the same time, the drill rod placement seat 3 also provides position adjustment in three-dimensional space. The three-dimensional space position adjustment here is mainly achieved by the extension and shortening of the oil cylinder to achieve the relative position adjustment of the horizontal platform, which belongs to the fine adjustment of the drill rod position. In conjunction with the large position adjustment basis of the drill rod transmission body 1, after the drill rod 5 is placed on the drill rod placement seat 3, it can not only be clamped in the axial direction, but also after the axial clamping force is released, the drill rod 5 is naturally ejected through the floating support effect and unloaded to the corresponding drilling rig A.

[0072] In the embodiment of the present disclosure, a swing limit platform 31 is provided on the drill rod placement seat 3, and a first clamping body 32 and a second clamping body 33 are inserted parallel to the surface of the swing limit platform 31 and staggered; a first moving body 37 is installed on the insertion end of the first clamping body 32, and a second moving body 38 is installed on the insertion end of the second clamping body 33, and the first moving body 37 and the second moving body 38 respectively drive the first clamping body 32 and the second clamping body 33 to realize axial movement through the clamping cylinder 36; a fixed platform 34 is also hingedly provided under the swing limit platform 31, and a swing cylinder 35 is provided between the fixed platform 34 and the swing limit platform 31. The fixed platform 34 and the swing limit platform 31 are connected by a pin shaft, and the relative position change is realized by the swing cylinder 35. The piston rod end of the swing cylinder 35 is connected to the swing limit platform 31 by a pin shaft, and the cylinder end is connected to the fixed platform 34 through an intermediate hinge shaft; specifically, in combination with Figure 2 The swing limit platform 31 is mainly composed of side plates, a bottom plate, a supporting plate, a plurality of rib plates and a cylinder seat. For example, four side plates are arranged along four corners, the supporting plate is on the first layer, and the bottom plate is on the second layer; there is a special-shaped groove on the upper part of the side plate, the lower part of the groove is rectangular, the width is greater than the diameter of the drill rod 5, and the upper part of the groove is V-shaped with an inclination angle of 45°; there are upper and lower rectangular holes in the middle of the side plate, the size of the rectangular hole is slightly larger than the size of the plate used for the first clamping body 32 or the second clamping body 33, which is convenient for the movement of the two clamping plates, and according to the use requirements, the height difference between the upper and lower rectangular holes is 30mm; there are two special-shaped holes on the left and right sides of the lower part of the side plate, which are convenient for the clamping cylinder 36 to pass through; there are cylinder seats and rectangular grooves for the clamping cylinder 36 and the swing cylinder 35 on the bottom plate. The width of the rectangular groove is 22mm and the height is 20mm; the first clamping body 32 or the second clamping body 33 is L-shaped, with a drill rod holder on it; the drill rod holder is a cylinder, and the top end is rounded; the height difference between the first clamping body 32 and the second clamping body 33 is equal to the height difference between the two rectangular holes on the side plate, both of which are 30mm; there is a narrow groove on the first clamping body 32, and the narrow groove is square or rectangular, which facilitates the movement of the first movable body 37; the second movable body 38 and the first movable body 37 are basically the same in composition, including a horizontal plate, a vertical plate and a cylinder seat. There are four circular through holes on the horizontal plate, which are connected to the first clamping body 32 or the second clamping body 33 by bolts; the height difference between the vertical plates of the second movable body 38 and the first movable body 37 is equal to the height difference between the two rectangular holes on the side plate 36, both of which are 30mm; the thickness of the vertical plate is 20mm, and it can slide in the rectangular groove of the bottom plate, and the rectangular groove plays a guiding and positioning role; there is a semicircular seat on the fixed platform 34 for fixing the swing cylinder 35, and the inner diameter of the semicircular seat is the same as the diameter of the hinge shaft of the swing cylinder 35.

[0073] In the embodiment of the present disclosure, a plurality of supporting columns 311 are embedded on the swing limit platform 31, and a spring 312 is arranged under the supporting column 311. The supporting plate of the swing limit platform 31 is welded to the bottom of the special-shaped groove on the upper part of the side plate, and has three columnar countersunk holes on it. The supporting column 311 fixes the spring 312 in the columnar countersunk hole through a nut.

[0074] In the embodiment of the present disclosure, the drill rod conveying body 1 is a "Z"-shaped scraper transport body; a scraper 12 is provided on the drill rod conveying body 1, and a drill rod placement seat 3 is installed on the scraper 12; a right-angled support frame 11 is fixed on the side of the drill rod conveying body 1, and the drill rod conveying body 1 is mounted on the position adjustment mechanism 4 through the support frame 11. A plurality of scrapers 12 are evenly distributed in the drill rod conveying body 1, and the scrapers 12 are castings or steel parts, and 3 through holes are evenly distributed on them. The support frame 11 is formed by bending a hard pipe, and is symmetrically arranged on the left and right sides. The support frame 11 is bolted or directly welded to the drill rod conveying body 1; the drill rod placement seat 3 is fixed to the scraper 12 of the drill rod conveying body 1 by three bolts, and the drill rod conveying body 1 is connected to the lifting and locking mechanism 44 by four inclined screw assemblies 43; four corners under the platform 2 are respectively provided with stable seats 21, and a slewing mechanism 22 is provided under the platform 2.

[0075] In the embodiment of the present disclosure, the position adjustment mechanism 4 is provided with an adjustment cylinder 42, and a lifting and locking mechanism 44 is installed on the adjustment cylinder 42; the ends of the lifting and locking mechanism 44 are respectively provided with a first stabilizing cylinder 41 and a second stabilizing cylinder 45; and an inclined screw assembly 43 is provided on the lifting and locking mechanism 44 for carrying the drill pipe conveying body 1. The cylinder ends of the first stabilizing cylinder 41 and the second stabilizing cylinder 45 are fixed to the platform 2 by 8 bolts, and the piston rod ends are connected with a stabilizing seat; the lifting and locking mechanism 44 can slide up and down on the cylinders of the first stabilizing cylinder 41 and the second stabilizing cylinder 45 through the control of the adjustment cylinder 42; the inclined screw assembly 43 is mainly realized by being penetrated on the support frame 11 to carry the drill pipe conveying body 1.

[0076] In the embodiment of the present disclosure, the lifting and locking mechanism 44 is provided with an intermediate body 441, the two ends of the intermediate body 441 are connected to the crossbeam 442, and the end of the crossbeam 442 is connected to the first clamping body 443; the first clamping body 443 is respectively sleeved on the first stabilizing oil cylinder 41 and the second stabilizing oil cylinder 42; the intermediate body 441 is installed on the adjusting oil cylinder 42. The intermediate body 441 of the lifting and locking mechanism 44 is a rectangular body, with an opening at the bottom and 6 through holes at the top for fixing the adjusting oil cylinder 42; the inner circular diameter of the first clamping body 443 can be adjusted by bolts, and the lifting and locking mechanism 44 is locked by fasteners after reaching the specified position; the lifting and locking mechanism 44 can slide up and down on the cylinder barrels of the first stabilizing oil cylinder 41 and the second stabilizing oil cylinder 45 through the control of the adjusting oil cylinder 42; the piston rod end of the adjusting oil cylinder 42 is fixed on the intermediate body 441, and the cylinder barrel end is fixed on the platform 2.

[0077] In the embodiment of the present disclosure, the inclined screw assembly 43 is provided with a second clamping body 431 and a stud 432 which are connected in sequence; the second clamping body 431 is sleeved on the crossbeam 442, and the stud 432 is passed through the drill rod conveying body 1. The length of the stud 432 can be adjusted according to the use conditions; the stud 432 is passed through the rod body of the support frame 11, and the end is fixed by a pad and a bolt. The pad is a block with an arc surface on one side and a center hole. The diameter of the center hole is 2 mm larger than the diameter of the screw, and the diameter of the arc surface is the same as the diameter of the crossbeam 442, so that the drill rod conveying body 1 can be firmly mounted on the position adjustment mechanism 4.

[0078] Combination Figure 7 The auxiliary continuous drill rod changing device B of the present invention is provided with a crawler vehicle body e and a drilling rig platform d, on which a drill rod lifting mechanism a, a transfer mechanism b, an electric control box c, a main control valve f and a motor pump group g are provided; the drill rod lifting mechanism a is the drill rod lifting mechanism mentioned in the present invention.

[0079] Combination Figure 8 and 9 The control method of the auxiliary continuous drill rod changing device of the present invention comprises the following steps:

[0080] (1) When the drilling site is relatively large and the drilling rig A is used for horizontal drilling, the drilling rig A and the auxiliary continuous drill rod changing device B can be arranged vertically. The rod control method is as follows:

[0081] ① Alignment: Loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, and adjust the oil cylinder 42 to make the height of the drill pipe conveying body 1 higher than the tray of the drilling rig A. After reaching the position, fix the first clamping body 443;

[0082] ②Rod transfer: The drill rod 5 is transferred from the drill rod box to the drill rod placement seat 3 through the rod transfer mechanism b;

[0083] ③ Fixing the rod: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod 5. At this time, the support column 311 drops under the gravity of the drill rod 5, and the spring 312 is in a compressed state;

[0084] ④ Lifting the rod: the drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move;

[0085] ⑤ Rod placement: When the drill rod placement seat 3 reaches the front end of the drill rod conveying body 1, the opening is in a horizontal state, the clamping cylinder 36 is released, and the drill rod 5 pops outward under the action of the restoring force of the spring 312 and falls on the tray of the drilling rig A, and the drill rod placement seat 3 returns to the initial position;

[0086] ⑥Pipe raising: Drilling machine A places the drill rod 5 between the rotator and the clamp through the manipulator to complete the pipe raising;

[0087] ⑦ Repeat: Repeat ① to ⑥ to complete the continuous swing;

[0088] After drilling rig A completes the drilling, it starts to unload the rods:

[0089] ① Alignment: adjust the angle of the tray of the drilling rig A so that it is tilted downward; loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, and adjust the oil cylinder 42 to make the height of the drill rod conveying body 1 lower than the tray of the drilling rig A. After reaching the position, fix the first clamping body 443;

[0090] ② Slide rod: Place the drill rod placement seat 3 at the front end of the drill rod conveyor 1, with the opening in a vertical state. The drilling rig A places the drill rod 5 on the tray through a manipulator and slides it onto the drill rod placement seat 3 at an angle;

[0091] ③ Rod fixing: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod;

[0092] ④ Rod lowering: The drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move to the initial position for placing the drill rod;

[0093] ⑤Rod transfer: The drill rod 5 is transferred from the drill rod placement seat 3 to the drill rod box through the rod transfer mechanism b, and the drill rod placement seat 3 returns to the front end of the lifting body;

[0094] ⑥Repeat: Repeat ①~⑤ to complete the continuous downswing;

[0095] (2) When the drilling site is relatively large and the drilling rig A is used for drilling at an elevation angle, the drilling rig A and the auxiliary continuous drill rod changing device (B) can be arranged vertically. The rod control method is as follows:

[0096] ① Alignment: Loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, the nuts on the studs 432 in the inclined screw rod 43, and the bolts of the second clamping body 431. By adjusting the different lifting heights of the two adjustment cylinders 42, the inclination angle of the drill pipe transmission body 1 is made the same as the inclination angle of the main engine of the drilling rig A, but the height is higher than the tray of the drilling rig A. After reaching the position, fix the nuts of the first clamping body 443, the second clamping body 431, and the inclined screw rod 43;

[0097] ②Rod transfer: Since the drill rod conveyor 1 is tilted, the swing cylinder 35 of the drill rod placement seat 3 needs to be adjusted to make the swing limit platform 31 on its upper part horizontal. At this time, the drill rod 5 is transferred from the drill rod box to the drill rod placement seat 3 through the rod transfer mechanism b;

[0098] ③ Fixing the rod: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod. At this time, the support column 311 drops under the gravity of the drill rod 5, and the spring 312 is in a compressed state;

[0099] ④ Lifting the rod: the drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move; at the same time, the swing limit table 31 in the drill rod placement seat 3 moves under the action of the swing cylinder 35, so that the inclination angle of the swing limit table 31 is the same as that of the drill rod conveyor 1;

[0100] ⑤ Rod placement: When the drill rod placement seat 3 reaches the front end of the drill rod conveyor 1, the opening is in a relatively horizontal state, the clamping cylinder 36 is released, and the drill rod 5 pops outward under the action of the restoring force of the spring 312 and falls on the tray of the drilling rig A. At the same time, the drill rod placement seat 3 makes the swing limit platform 31 horizontal under the action of the internal swing cylinder 35, and returns to the initial position under the action of the scraper 12;

[0101] ⑥Pipe raising: Drilling machine A places the drill rod 5 between the rotator and the clamp through the manipulator to complete the pipe raising;

[0102] ⑦ Repeat: Repeat ① to ⑥ to complete the continuous swing;

[0103] After drilling rig A completes the drilling, it starts to unload the rods:

[0104] ① Alignment: adjust the angle of the tray of the drilling rig A so that it is tilted downward; loosen the bolts of the first clamping body 443 in the lifting and locking mechanism 44, the nuts on the studs 432 in the inclined screw rod 43, and the bolts of the second clamping body 431, and make the inclination angle of the drill pipe transmission body 1 the same as the inclination angle of the main engine of the drilling rig A through the different descending heights of the two adjustment cylinders 42, but the height is lower than the tray of the drilling rig A, and fix the first clamping body 443, the second clamping body 431 and the nuts of the inclined screw rod 43 after reaching the position;

[0105] ② Slide rod: Place the drill rod placement seat 3 at the front end of the drill rod transmission body 1, and swing the limit platform 31 to the same angle as the main engine inclination of the drilling rig A. The drilling rig A places the drill rod 5 on the tray through the manipulator and slides it to the drill rod placement seat 3 at an angle;

[0106] ③ Rod fixing: The distance between the first clamping body 32 and the second clamping body 33 is reduced by the clamping oil cylinder 36 on the drill rod placement seat 3 to clamp the drill rod;

[0107] ④ Rod lowering: the drill rod conveyor 1 starts to operate, and the scraper 12 drives the drill rod placement seat 3 to move to the initial position. At the same time, the swing limit platform 31 is in a horizontal position under the action of the swing cylinder 35;

[0108] ⑤Rod transfer: The drill rod 5 is transferred from the drill rod placement seat 3 to the drill rod box through the rod transfer mechanism b, and the drill rod placement seat 3 returns to the front end of the lifting body;

[0109] ⑥Repeat: Repeat ①~⑤ to complete the continuous downswing;

[0110] (2) When the drilling site space is relatively small, the drilling rig A and the auxiliary continuous drill rod changing device B can be arranged in parallel. The rod changing control method is the same as when the two machines are arranged vertically, and the rotation step is added, which specifically includes:

[0111] The rod raising control method is to increase the rotation of the drill rod conveyor body 1 by 90° under the action of the slewing mechanism 22 during the ④ rod raising process, and increase the return of the drill rod conveyor body 1 to the initial position under the action of the slewing mechanism 22 during the ⑤ rod lowering process; the rod lowering control method is to increase the rotation of the drill rod conveyor body 1 by 90° under the action of the slewing mechanism 22 during the ② rod sliding process, and increase the return of the drill rod conveyor body 1 to the initial position under the action of the slewing mechanism 22 during the ④ rod lowering process. The specific process mainly drives the platform 2 to realize the overall rotation through the slewing mechanism 22, thereby driving the drill rod conveyor body 1 to realize the rotation angle adjustment. The stable seats 21 set on the four corners of the platform 2 can be a stable oil cylinder structure. When the rotation operation is performed, the stable seat 21 is retracted and does not contact the drilling rig platform d, and then the slewing mechanism 22 is operated to realize the rotation operation. After the rotation operation is completed, the extension length of the stable seat 21 can be adjusted according to the actual working conditions to realize the stable support of the platform 2.

[0112] The auxiliary continuous rod changing device of the present invention is flexible in movement, safe and reliable in operation; it has multiple degrees of freedom, can be flexibly arranged according to the site space, and has strong adaptability to tunnels; it does not require manual loading during operation, thus liberating labor to the maximum extent, reducing operation auxiliary time, and improving the rod changing efficiency of the drilling rig.

[0113] The above description is only a preferred example of the present invention and does not limit the present invention in any form. Any simple modification, equivalent change and modification made to the above example based on the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A drill pipe lifting mechanism, characterized in that: A platform (2) is provided, a position adjustment mechanism (4) is provided on the platform (2), a drill rod conveying body (1) is mounted on the position adjustment mechanism (4), and a drill rod placement seat (3) is mounted on the drill rod conveying body (1); The drill rod placement seat (3) is transported along the drill rod conveying body (1), and the conveying method of the drill rod conveying body (1) is scraper transportation; The position adjustment mechanism (4) drives the drill rod transmission body (1) to achieve position adjustment in three-dimensional space; The drill rod placement seat (3) provides radial floating support and axial clamping and limiting for the drill rod; at the same time, the drill rod placement seat (3) also provides position adjustment in three-dimensional space; The drill rod placement seat (3) is provided with a swing limit platform (31), a fixed platform (34) is hingedly provided under the swing limit platform (31), and a swing oil cylinder (35) is provided between the fixed platform (34) and the swing limit platform (31); The drill rod conveyor (1) is a "Z"-shaped scraper transport body; a scraper (12) is provided on the drill rod conveyor (1), and a drill rod placement seat (3) is installed on the scraper (12); a right-angled support frame (11) is fixedly provided on the side of the drill rod conveyor (1), and the drill rod conveyor (1) is mounted on the position adjustment mechanism (4) through the support frame (11); The position adjustment mechanism (4) is provided with an adjustment cylinder (42), and a lifting and locking mechanism (44) is provided on the adjustment cylinder (42); and an inclined screw assembly (43) is provided on the lifting and locking mechanism (44) for carrying the drill rod conveying body (1); A slewing mechanism (22) is arranged under the platform (2), and the inclination angle of the drill pipe conveying body (1) is adjusted by adjusting the different rising heights of two adjustment cylinders (42).

2. The drill rod lifting mechanism according to claim 1, characterized in that: A first clamping body (32) and a second clamping body (33) are arranged parallel to and alternately with the surface of the swing limit platform (31); The first moving body (37) is mounted on the insertion end of the first clamping body (32), and the second moving body (38) is mounted on the insertion end of the second clamping body (33). The first moving body (37) and the second moving body (38) respectively drive the first clamping body (32) and the second clamping body (33) to achieve axial movement through the clamping oil cylinder (36).

3. The drill rod lifting mechanism according to claim 2, characterized in that: A plurality of supporting columns (311) are embedded on the swing limiting platform (31), and springs (312) are arranged under the supporting columns (311).

4. The drill rod lifting mechanism according to claim 3, characterized in that: A first stabilizing oil cylinder (41) and a second stabilizing oil cylinder (45) are respectively arranged at the ends of the lifting and locking mechanism (44).

5. The drill rod lifting mechanism according to claim 4, characterized in that: The lifting and locking mechanism (44) is provided with an intermediate body (441), both ends of the intermediate body (441) are connected to a crossbeam (442), and the end of the crossbeam (442) is connected to a first clamping body (443); The first clamping body (443) is sleeved on the first stabilizing oil cylinder (41) and the second stabilizing oil cylinder (45) respectively; and the intermediate body (441) is installed on the adjusting oil cylinder (42).

6. The drill rod lifting mechanism according to claim 5, characterized in that: The inclined screw rod assembly (43) is provided with a second clamping body (431) and a stud (432) which are connected in sequence; the second clamping body (431) is sleeved on the crossbeam (442), and the stud (432) is passed through the drill rod transmission body (1).

7. An auxiliary continuous drill rod changing device, characterized in that: A crawler vehicle body (e) and a drilling platform (d) are provided, and a drill rod lifting mechanism (a), a transfer mechanism (b), an electric control box (c), a main control valve (f) and a motor pump group (g) are provided on the drilling platform (d); The drill rod lifting mechanism (a) is the drill rod lifting mechanism described in claim 6.

8. A control method for an auxiliary continuous drill rod changing device, characterized in that: The method is carried out using the auxiliary continuous drill rod changing device according to claim 7, and specifically comprises the following steps: (1) When the drilling site is relatively large and the drilling rig (A) is used for horizontal drilling, the drilling rig (A) and the auxiliary continuous drill rod changing device (B) can be arranged vertically. The rod control method is as follows: ① Alignment: Loosen the bolts of the first clamping body (443) in the lifting and locking mechanism (44), adjust the oil cylinder (42) so that the height of the drill rod conveying body (1) is higher than the tray of the drilling machine (A), and fix the first clamping body (443) after reaching the position; ②Rod transfer: The drill rod (5) is transferred from the drill rod box to the drill rod placement seat (3) through the transfer mechanism (b); ③ Fixing the rod: The distance between the first clamping body (32) and the second clamping body (33) is reduced by the clamping oil cylinder (36) on the drill rod placement seat (3), thereby clamping the drill rod (5). At this time, the support column (311) is lowered by the gravity of the drill rod (5), and the spring (312) is in a compressed state; ④ Rod lifting: the drill rod conveyor (1) starts to operate, and the scraper (12) drives the drill rod placement seat (3) to move; ⑤ Rod release: When the drill rod placement seat (3) reaches the front end of the drill rod conveying body (1), the opening is in a horizontal state, the clamping cylinder (36) is released, and the drill rod (5) pops outward under the action of the restoring force of the spring (312) and falls onto the tray of the drilling rig (A), and the drill rod placement seat (3) returns to the initial position; ⑥Putting the rod up: The drilling machine (A) uses the manipulator to place the drill rod (5) between the rotator and the clamp to complete the putting of the rod up; ⑦ Repeat: Repeat steps ① to ⑥ to complete the continuous swing; After the drilling rig (A) completes the drilling, it starts to unload the rods: ① Alignment: adjust the angle of the tray of the drilling rig (A) so that it is tilted downward; loosen the bolts of the first clamping body (443) in the lifting and locking mechanism (44), adjust the oil cylinder (42) so that the height of the drill rod conveying body (1) is lower than the tray of the drilling rig (A), and fix the first clamping body (443) after reaching the position; ② Sliding rod: Place the drill rod placement seat (3) at the front end of the drill rod conveyor (1), with the opening in a vertical state. The drilling rig (A) places the drill rod (5) on the tray through a manipulator and slides it onto the drill rod placement seat (3) at an angle; ③ Fixing the drill rod: The distance between the first clamping body (32) and the second clamping body (33) is reduced by the clamping oil cylinder (36) on the drill rod placement seat (3), thereby clamping the drill rod; ④ Rod lowering: the drill rod conveyor (1) starts to operate, and the scraper (12) drives the drill rod placement seat (3) to move to the initial position for placing the drill rod; ⑤ Rod transfer: the drill rod (5) is transferred from the drill rod placement seat (3) to the drill rod box through the transfer mechanism (b), and the drill rod placement seat (3) returns to the front end of the lifting body; ⑥ Repeat: Repeat steps ① to ⑤ to complete the continuous swing; (2) When the drilling site is relatively large and the drilling rig (A) is used for drilling holes at an elevation angle, the drilling rig (A) and the auxiliary continuous drill rod changing device (B) can be arranged vertically. The rod control method is as follows: ① Alignment: Loosen the bolts of the first clamping body (443) in the lifting and locking mechanism (44), the nuts on the studs (432) in the inclined screw assembly (43) and the bolts of the second clamping body (431), and make the inclination angle of the drill pipe conveying body (1) the same as the inclination angle of the main machine of the drilling rig (A) by adjusting the different lifting heights of the two oil cylinders (42), but the height is higher than the tray of the drilling rig (A), and after reaching the position, fix the nuts of the first clamping body (443), the second clamping body (431) and the inclined screw assembly (43); ②Rod transfer: Since the drill rod conveyor (1) is tilted, the swing cylinder (35) of the drill rod placement seat (3) needs to be adjusted to make the swing limit platform (31) on its upper portion horizontal. At this time, the drill rod (5) is transferred from the drill rod box to the drill rod placement seat (3) through the transfer mechanism (b); ③ Fixing the drill rod: The distance between the first clamping body (32) and the second clamping body (33) is reduced by the clamping oil cylinder (36) on the drill rod placement seat (3), thereby clamping the drill rod. At this time, the support column (311) is lowered by the gravity of the drill rod (5), and the spring (312) is in a compressed state; ④ Lifting the rod: the drill rod conveyor (1) starts to operate, and the scraper (12) drives the drill rod placement seat (3) to move; at the same time, the swing limiter (31) in the drill rod placement seat (3) moves under the action of the swing cylinder (35), so that the inclination angle of the swing limiter (31) is the same as that of the drill rod conveyor (1); ⑤ Rod release: When the drill rod placement seat (3) reaches the front end of the drill rod conveyor (1), the opening is in a relatively horizontal state, the clamping cylinder (36) is released, and the drill rod (5) pops outward under the action of the restoring force of the spring (312) and falls onto the tray of the drilling rig (A). At the same time, the drill rod placement seat (3) makes the swing limit platform (31) horizontal under the action of the internal swing cylinder (35), and returns to the initial position under the action of the scraper (12); ⑥Putting the rod up: The drilling machine (A) uses the manipulator to place the drill rod (5) between the rotator and the clamp to complete the putting of the rod up; ⑦ Repeat: Repeat steps ① to ⑥ to complete the continuous swing; After the drilling rig (A) completes the drilling, it starts to unload the rods: ① Alignment: adjust the angle of the tray of the drilling rig (A) so that it is tilted downward; loosen the bolts of the first clamping body (443) in the lifting and locking mechanism (44), the nuts on the studs (432) in the inclined screw assembly (43) and the bolts of the second clamping body (431); by adjusting the different descending heights of the two adjustment cylinders (42), make the inclination angle of the drill pipe transmission body (1) the same as the inclination angle of the main machine of the drilling rig (A), but the height is lower than the tray of the drilling rig (A); after reaching the position, fix the nuts of the first clamping body (443), the second clamping body (431) and the inclined screw assembly (43); ② Sliding rod: The drill rod placement seat (3) is placed at the front end of the drill rod conveying body (1), and the swing limit platform (31) is swung to the same angle as the main engine inclination angle of the drilling rig (A). The drilling rig (A) places the drill rod (5) on the tray through the manipulator and slides it onto the drill rod placement seat (3) at an angle; ③ Fixing the drill rod: The distance between the first clamping body (32) and the second clamping body (33) is reduced by the clamping oil cylinder (36) on the drill rod placement seat (3), thereby clamping the drill rod; ④ Rod lowering: the drill rod conveyor (1) starts to operate, the scraper (12) drives the drill rod placement seat (3) to move to the initial position, and at the same time, the swing limit table (31) is in a horizontal position under the action of the swing cylinder (35); ⑤ Rod transfer: the drill rod (5) is transferred from the drill rod placement seat (3) to the drill rod box through the transfer mechanism (b), and the drill rod placement seat (3) returns to the front end of the lifting body; ⑥ Repeat: Repeat steps ① to ⑤ to complete the continuous swing; (3) When the drilling site space is relatively small, the drilling rig (A) and the auxiliary continuous drill rod changing device (B) can be arranged in parallel. The rod changing control method is the same as when the two machines are arranged vertically, and the rotation steps are added, which specifically include: A rod raising control method, in step ④, during the rod raising process, the drill rod conveying body (1) is added to rotate 90 degrees under the action of the rotating mechanism (22); in step ⑤, during the rod lowering process, the drill rod conveying body (1) is added to return to the initial position under the action of the rotating mechanism (22); The rod lowering control method comprises the following steps: in step ②, during the rod sliding process, the drill rod conveying body (1) is added to rotate 90 degrees under the action of the rotating mechanism (22); in step ④, during the rod lowering process, the drill rod conveying body (1) is added to return to the initial position under the action of the rotating mechanism (22).

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