A rod adding and removing device and a rear rod adding and removing system

Abstract

The application discloses a rod adding and removing device and a rear rod adding and removing system. The disclosed device comprises an upper and lower rod device and a water convenient dismounting device, which are arranged on the sides of a rod adding position respectively. In an actual scheme, the upper and lower rod device can realize the grabbing, transferring and adjusting of a drill rod, and complete three working states of a grabbing position, a waiting position and a working position of the drill rod; the water convenient dismounting device can complete water convenient conveying and the dismounting of the water convenient on the drill rod, thereby assisting in the automatic connection and disconnection of a water route and cooperating with the drill rod construction. The device can complete the automatic mounting and dismounting of the drill rod and the water convenient device by using the rear rod adding device, each process can be independently completed, manual intervention is not needed in the whole process, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of rod-adding devices for underground tunnel drilling rigs in coal mines, and particularly to a rear rod-adding device for underground tunnel drilling rigs in coal mines and its usage method. Background Technology

[0002] To improve drilling efficiency, tunnel drilling rigs generally use a through-hole rotary head with a hydraulic chuck and a rear-mounted rod method (i.e., adding and unloading drill rods from behind the rotary head each time the tunnel drilling rig is in operation). According to the requirements of the construction process, the water supply structure needs to be disassembled and assembled each time the drill rod is loaded and unloaded. Currently, manual operation is commonly used to frequently load and unload drill rods and water supply structures, which greatly prolongs the auxiliary working time of the drilling rig. Due to the characteristics of the drill rod having a high self-weight and high length-to-diameter ratio, the manual labor intensity is high, the operation is cumbersome, and the construction efficiency is low. Moreover, manual loading and unloading of drill rods is particularly difficult during high-level drilling and large-angle inclined drilling, which poses a hidden danger to the operation safety of construction personnel.

[0003] Currently, using automation and intelligent technologies to improve equipment efficiency and quality while ensuring operator safety has become a mainstream awareness in coal mining.

[0004] For the construction requirements of adding a rear boom to tunnel drilling rigs, there are no specialized mechanical devices or components, either domestically or internationally, to complete the above operations. The operations are generally carried out manually or with non-specialized robotic arms, which has become one of the key components that seriously restricts the overall safety and efficiency of tunnel drilling rig construction. Summary of the Invention

[0005] In view of the defects or deficiencies of the prior art, the present invention provides a rod loading and unloading device.

[0006] Therefore, the rod-adding and unloading device provided by the present invention includes a rod-adding and unloading device and a water-based disassembly and assembly device;

[0007] The upper and lower pole device includes an angle adjustment device, a screw mechanism, and a mechanical gripper; the angle adjustment device is located beside the part of the pole to be added; the screw mechanism and the mechanical gripper are mounted on the angle adjustment device;

[0008] The angle adjustment device is used to adjust the position of the mechanical gripper relative to the drill rod to be added or the drill rod to be unloaded; the angle adjustment device is also used to adjust the position of the rotary locking mechanism relative to the rod to be added or the drill rod to be unloaded; the angle adjustment device is also used to adjust the relative position between the mechanical gripper and the rotary locking mechanism;

[0009] The mechanical gripper is used to grab drill rods to be added or to be unloaded.

[0010] With the assistance of a mechanical gripper, the rotary locking mechanism is axially connected to the drill rod to be added by rotating itself, and then completes the connection between the drill rod and the part to be added by rotating itself; the rotary locking mechanism is also used to complete the connection with the drill rod to be removed and the disassembly of the drill rod by rotating itself.

[0011] The water-filling device is located beside the rod to be added. It is used to transport water to the drill rod installed at the rod to be added and to install the water onto the drill rod. It is also used to remove the water from the drill rod after the water-filling process is completed and to remove the water away from the drill rod with the water.

[0012] Furthermore, the angle adjustment device includes a first translation device, a lifting mechanism, a first telescopic device, a second telescopic device, and a third telescopic device;

[0013] The first translation device is used to be set on the side of the part to be added, the lifting mechanism is installed on the first translation device, the first telescopic device is installed on the lifting mechanism, the second telescopic device and the third telescopic device are installed on the first telescopic device, the mechanical gripper is installed on the second telescopic device, and the rod-rubbing mechanism is installed on the third telescopic device.

[0014] The first translation device drives the lifting mechanism and the components installed on the lifting mechanism to perform translational movements, wherein the lifting direction of the lifting mechanism is perpendicular to the translation direction of the first translation device.

[0015] The lifting mechanism drives the first telescopic device and the components installed on the first telescopic device to rise and fall, wherein the telescopic direction of the first telescopic device is perpendicular to the lifting direction of the lifting mechanism.

[0016] The third telescopic device drives the rotating mechanism to move, the second telescopic device drives the mechanical gripper to move, and the telescopic direction of the second telescopic device is perpendicular to the telescopic direction of the third telescopic device. At the same time, the telescopic direction of the second telescopic device and the telescopic direction of the third telescopic device are both perpendicular to the telescopic direction of the first telescopic device.

[0017] The mechanical gripper grasps or releases the drill rod by opening and closing, and the opening and closing direction of the mechanical gripper is perpendicular to the extension and retraction direction of the third telescopic device.

[0018] Furthermore, the first telescopic device is mounted on the lifting mechanism via a mounting bracket.

[0019] Furthermore, the screw fastening device includes a first motor, which is mounted on the third telescopic device. The output shaft of the first motor is provided with a drill rod connection structure, and the output direction of the first motor output shaft is parallel or in the same direction as the telescopic direction of the third telescopic device.

[0020] Furthermore, it also includes a storage tray, which is placed below the mechanical gripper. The length direction of the storage tray can accommodate the axial length of the drill rod, and the length direction of the storage tray is perpendicular to the opening and closing direction of the mechanical gripper. At the same time, the bottom surface of the storage tray is inclined, and the inclination direction of the bottom surface is perpendicular to the length direction.

[0021] Furthermore, the water toilet assembly / disassembly device includes a second translation device, a first robotic arm, a second robotic arm, and a water toilet assembly / disassembly power device;

[0022] The second translation device is used to be positioned beside the part of the rod to be added.

[0023] One end of the first robotic arm is mounted on the second translation device, and the other end of the second robotic arm is rotatably connected to the first robotic arm. The power output shaft of the water toilet assembly / disassembly power device is provided with a water toilet component mounting part, and the water toilet assembly / disassembly power device is mounted on the free end of the second robotic arm.

[0024] The second translation device is used to move the first robotic arm and the mounting components on the first robotic arm closer to or away from the part of the drill pipe to be removed from the water tank; when the first robotic arm is close to the part to be removed from the water tank, the rotation axis of the second robotic arm and the first robotic arm is parallel to the axis of the part to be removed from the water tank.

[0025] The second robotic arm rotates relative to the first robotic arm, causing the toilet removal and assembly power device to move closer to or away from the toilet to be removed. When the toilet removal and assembly power device moves closer to the toilet to be removed, the feed direction of the toilet removal and assembly power device is coaxial with the axis of the toilet to be removed.

[0026] Furthermore, the water-powered assembly and disassembly device is a second motor.

[0027] Furthermore, the power device for disassembling and assembling the toilet also includes a water toilet control solenoid valve assembly, used to control the opening and closing of the water inlet and outlet passages inside the toilet.

[0028] Furthermore, the translation direction of the second translation device is parallel to the motion trajectory of the first translation device.

[0029] Furthermore, the first translation device and the second translation device are disposed on both sides of the part of the rod to be added.

[0030] The present invention also provides a rear-mounted rod loading / unloading system. To this end, the provided rear-mounted rod loading / unloading system includes a feeding device and the aforementioned rod loading / unloading device, wherein a rod to be loaded is provided at one axial end of the feeding device. During rod loading, the gripper delivers the drill rod to the end of the feeding device, and the drill rod is axially mounted on the feeding device via a screw-locking mechanism; then, through the movement of a second translation device and / or a second robotic arm, a water supply assembly is delivered to the axial end of the drill rod, and the water supply assembly is installed at the end of the drill rod via a water supply assembly / unloading power device; water is added to the drill rod through the water supply assembly, and after water addition is completed, the water supply assembly is disassembled from the end of the drill rod via the water supply assembly / unloading power device.

[0031] The device of the present invention can automatically install and disassemble the drill rod and water device using the rear rod-adding device. Each process can be completed autonomously and independently without manual intervention, reducing the labor intensity of workers. It has a wide range of applications, can greatly improve the efficiency of drilling operations, and has good safety. Attached Figure Description

[0032] Figure 1 This is one of the schematic diagrams of the device structure of the present invention (waiting position);

[0033] Figure 2 This is the second schematic diagram of the device structure of the present invention (drill rod being transported to the part to be added);

[0034] Figure 3 This is the third schematic diagram of the device structure of the present invention (drill rod installation or removal state);

[0035] Figure 4 This is the fourth schematic diagram of the device structure of the present invention. Figure 3 (Another perspective view);

[0036] Figure 5 This is one of the schematic diagrams of the device structure of the present invention (in a water-convenient installation or disassembly state);

[0037] Figure 6 This is a schematic diagram of the upper and lower rod device in an embodiment of the present invention;

[0038] Figure 7 for Figure 6 The right view;

[0039] Figure 8 This is a schematic diagram of the structure of the water toilet disassembly and assembly device in an embodiment of the present invention;

[0040] Figure 9 for Figure 8 The left view;

[0041] Figure 10 This is a structural example diagram of the feeding device. Detailed Implementation

[0042] Unless otherwise specified, the scientific and technical terms used in this article are intended for understanding by those skilled in the art.

[0043] The directional or orientational terms such as axial, horizontal, above, and below used herein are consistent with the corresponding directions or orientations in the accompanying drawings. It should be noted that the specific directions or orientations in the accompanying drawings are examples of the present invention and are intended to clarify the present invention. Those skilled in the art can make equivalent rotations, adjustments, and substitutions based on the disclosure herein.

[0044] 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.

[0045] See Figure 1 As shown, the rod-adding / removing device of the present invention includes a rod-adding / removing device 1 and a water-based disassembly / removal device 4, both of which are respectively arranged beside the part of the rod to be added. In the actual embodiment, the part of the rod to be added is as follows: Figure 1 The feed device 5 shown or the existing drill rod end of the feed device; wherein, the upper and lower rod device can realize the gripping, transfer and adjustment of the drill rod 3, and complete the three working states of the drill rod: gripping position, waiting position and working position; the water supply disassembly and assembly device 4 can complete the water supply 2 delivery and the disassembly and assembly of the water supply on the drill rod, thereby assisting in the automatic connection and disconnection of the water circuit, and cooperating with the drill rod construction; the water supply is a conventional component in the art, or a water supply with the water circuit connector set on the outer bearing of the water supply shaft, so that the water circuit connector does not rotate when the water supply shaft rotates; after the drill rod and / or the water supply is installed, the feed device 5 cooperates with the feed construction of the drill rod.

[0046] In the specific design, the pole-mounting device includes an angle-adjusting device, a screw-locking mechanism, and a mechanical gripper; the angle-adjusting device and the water-powered disassembly device are both located beside the pole to be added, and the screw-locking mechanism and the mechanical gripper are mounted on the angle-adjusting device; for example... Figure 1 As shown, the angle adjustment device and the water-disassembly device are installed on both sides of the feeding device 5, specifically on the feeding device, and the feeding device is located between the angle adjustment device and the water-disassembly device; the feeding device is an existing feeding device or an optimized feeding device based on existing technology.

[0047] According to the construction sequence, see Figure 2-5 As shown, the device of the present invention can complete the following tasks: adding a rod to the part to be added, installing a water tank on the drill rod, removing the water tank from the drill rod, and unloading the rod.

[0048] When adding a rod:

[0049] The angle adjustment device adjusts the position of the mechanical gripper relative to the drill rod to be added (such as the drill rod in the rod storage section) and relative to the screw-locking mechanism. The angle adjustment device also adjusts the position of the screw-locking mechanism relative to the drill rod to be added, and simultaneously adjusts the relative position between the screw-locking mechanism and the mechanical gripper. After adjustment to the appropriate positions, the mechanical gripper and screw-locking device complete the rod addition process. Specifically, the angle adjustment device moves the mechanical gripper to the drill rod to be added and adjusts its orientation to facilitate gripping the drill rod. After the mechanical gripper grips the drill rod, it is driven by the angle adjustment device to deliver the drill rod to the screw-locking mechanism and screws it in place. The locking mechanism is located at one axial end of the drill rod; then the mechanical gripper fixes the drill rod, and the locking mechanism is axially connected to the drill rod to be added through the adjustment device and its own rotation; then, driven by the adjustment device, the locking mechanism and the drill rod are sent to the part to be added, with the other axial end of the drill rod located at the part to be added, and then the locking mechanism completes the connection between the drill rod and the part to be added through the movement of the adjustment device and its own rotation; before the locking mechanism performs the connection work between the drill rod and the part to be added (after the locking mechanism is connected to the drill rod to be added or after the locking mechanism and the drill rod are sent to the part to be added), the mechanical gripper leaves the drill rod under the drive of the adjustment device;

[0050] After the rod addition work is completed, the angle adjustment device drives the screw mechanism to leave the drill rod, and the water pipe removal and installation device delivers the water pipe to the drill rod and installs the water pipe on the drill rod.

[0051] After the drill rod completes the water supply and construction work, the device will disassemble the rod. Before disassembling the drill rod, the water removal and assembly device will remove the water from the drill rod and take it away from the drill rod.

[0052] During rod disassembly, the angle adjustment device is used to adjust the position of the mechanical gripper relative to the drill rod to be unloaded and its position relative to the rotary coupling mechanism. The angle adjustment device is also used to adjust the position of the rotary coupling mechanism relative to the drill rod to be unloaded. The mechanical gripper and rotary coupling mechanism complete the rod unloading work. Specifically, the rotary coupling mechanism moves to the drill rod to be unloaded under the drive of the angle adjustment device, and connects axially with the drill rod to be unloaded through its own rotation. Then, it rotates to complete the disassembly of the drill rod to be unloaded. Afterward, with the assistance and fixation of the mechanical gripper, the rotary coupling mechanism is separated from the drill rod.

[0053] Then, driven by the angle adjustment device, the mechanical gripper sends the unloaded drill rod to the rod storage location.

[0054] It should be noted that when the water supply does not need to be replaced, the water supply does not need to be removed from the water supply disassembly and assembly device during the above construction process. It is transported to the drill rod at each water addition stage to complete the water supply addition and disassembly work.

[0055] The angle adjustment device of the present invention can be designed according to the spatial position and working environment to realize its function in the present invention. An angle adjustment device structure suitable for adding a rod to the rear of a coal mine underground feed device is as follows: Figure 6 and 7As shown, it includes a first translation device 11, a lifting mechanism 14, a first telescopic device 15, a second telescopic device 13, and a third telescopic device 161; wherein, the first translation device is used to be set next to the part of the pole to be added, the lifting mechanism 14 is mounted on the first translation device 11, the first telescopic device 15 is mounted on the lifting mechanism 14, and in a specific embodiment, the first telescopic device 15 can be mounted on the first telescopic device through the mounting bracket 17; the second telescopic device 13 and the third telescopic device 161 are mounted on the first telescopic device 15, the mechanical gripper 19 is mounted on the second telescopic device, and the screw fastening mechanism 16 is mounted on the third telescopic device 161;

[0056] Furthermore, the working relationship and installation position of each component also satisfy the following: the first translation device drives the lifting mechanism and the components installed on the lifting mechanism to perform translational movement, wherein the lifting direction of the lifting mechanism is perpendicular to the translation direction of the first translation device;

[0057] The lifting mechanism drives the first telescopic device and the components installed on the first telescopic device to rise and fall, wherein the telescopic direction of the first telescopic device is perpendicular to the lifting direction of the lifting mechanism.

[0058] The extension direction of the second telescopic device is perpendicular to the extension direction of the third telescopic device, and the extension directions of the second telescopic device and the third telescopic device are both perpendicular to the extension direction of the first telescopic device.

[0059] The mechanical gripper grasps or releases the drill rod by opening and closing, and the opening and closing direction of the gripper is perpendicular to the extension and retraction direction of the third telescopic device; in a specific scheme, the mechanical gripper can use a gripper cylinder 12 to complete the grasping and releasing of the drill rod.

[0060] The above-mentioned scheme uses a lifting mechanism and a first, second and third telescopic device to drive the upper and lower rods together, so as to realize the various actions of the mechanical gripper 19 and the rotary mechanism, including the gripping position for gripping and placing the drill rod, the waiting position for holding the drill rod at a high point after gripping the drill rod, and the working position for placing the drill rod and the part to be added coaxially, such as coaxial with the hydraulic chuck on the feed device.

[0061] The rotary locking mechanism of this invention is used to connect to the drill pipe and to install and remove the drill pipe via rotation. To achieve the effects of this invention, the structure of the rotary locking device can be designed using a combination of appropriate power components. One example is... Figure 6As shown, it includes a first motor 162, which is mounted on a third telescopic device, specifically a mounting plate. The third telescopic device is used to adjust the position of the motor relative to the mechanical gripper or the drill rod in the mechanical gripper. The output shaft of the first motor is provided with a drill rod connection structure. For example, the end of the output shaft is a threaded male end that mates with the threaded connector at the tail end of the drill rod, which can complete the threaded connection or unthreading of the drill rod. During operation, the output direction of the first motor output shaft is the feed direction of the screw mechanism.

[0062] In further proposals, such as Figure 6 As shown in Figure 7, the upper and lower rod device of the present invention also includes a storage tray 17 for storing and placing multiple sets of drill rods. To facilitate gripping by the mechanical gripper, the storage tray 17 is placed below the mechanical gripper, and the length direction of the storage tray can accommodate the drill rods placed along their axial length. At the same time, the length direction of the storage tray is perpendicular to the opening and closing direction of the mechanical gripper. In addition, the bottom surface of the storage tray is inclined, and the inclined direction of the bottom surface is perpendicular to the length direction, so that the drill rods can automatically roll down to the bottom of the mechanical gripper.

[0063] The water toilet assembly / disassembly device of the present invention is used for the transportation, installation and disassembly of water toilets. A preferred structure is as follows: Figure 8-9 As shown, the system includes a second translation device 41, a first robotic arm 42, a second robotic arm 43, and a water toilet assembly / disassembly power device 44. The power output shaft of the water toilet assembly / disassembly power device is provided with a water toilet component installation part. The second translation device is used to be set next to the part to be added / disassembled. One end of the first robotic arm is mounted on the second translation device, and the other end of the second robotic arm is rotatably connected to the first robotic arm. In a specific scheme, the two can be rotatably connected by a pin shaft and driven by a rotary cylinder 45 set at the connection point. The water toilet assembly / disassembly power device is installed at the free end of the second robotic arm. The positional relationship of each component also satisfies the following: the second translation device is used to drive the first robotic arm and the mounting parts on the first robotic arm to move closer to or away from the part to be added / disassembled on the drill rod; when the first robotic arm moves closer to the part to be added / disassembled, the rotation axis of the second robotic arm and the first robotic arm is parallel to the axis of the part to be added / disassembled.

[0064] The second robotic arm rotates relative to the first robotic arm, causing the toilet removal and assembly power device to move closer to or away from the toilet to be removed. When the toilet removal and assembly power device moves closer to the toilet to be removed, the feed direction of the toilet removal and assembly power device is coaxial with the axis of the toilet to be removed.

[0065] In some preferred embodiments, in order to achieve automatic water supply, the toilet disassembly and assembly device is equipped with a solenoid valve group 46 that can be connected to the toilet to control the opening and closing of the water inlet and outlet in the toilet.

[0066] In the specific solution, the power device for disassembling and assembling the water toilet can be a rotary motor.

[0067] In the further optimized solution, Figure 6 and 7 The upper and lower rod devices shown are Figure 8 and 9 The translation direction of the first translation device in the water-based assembly / disassembly device shown is parallel to the movement trajectory of the second translation device. Both are parallel linear movement trajectories, located on either side of the feeding device 5.

[0068] See Figure 10 As shown, the feed device 5 in this example includes a rotary device 51, a pallet device 57, a guide rail device 58, a feed cylinder 56, a body device 53, a clamp 52, and a guide device 55. The rotary device 51 includes a hydraulic motor 59, a gearbox 60, and a hydraulic chuck 54 connected in sequence. It adopts a central through-hole structure to ensure that the drill rod passes through the rear center of the rotary device 51 and is connected to the pallet device 57 through a connector. The guide rail device 58 is arranged on both sides of the upper end of the body device 53 and is respectively provided with wear-resistant strips. Different types of guide rails can be added or removed. The thickness wear-resistant strip adjusts the flatness and parallelism of the guide rail device 58; the support plate device is fixed to the guide rail device by bolts and can slide back and forth on the guide rail device; the two ends of the feed cylinder rod are respectively connected to the machine body device, and the cylinder barrel is connected to the support plate device, which can ensure that the cylinder barrel slides back and forth on the cylinder rod; the clamp is set at the front end of the machine body device, adopts a double cylinder counter-clamping structure, and has a variable diameter slip inside, which can complete the clamping and releasing of the drill rod; the guide device is set at the rear end of the machine body device, which can provide initial guidance for the placed drill rod.

[0069] The specific process for adding the pole is as follows (removing the pole is done by reversing the steps of adding the pole):

[0070] Step 1: Adjust the position and orientation of the feed device 5 to meet the drilling design requirements;

[0071] Step 2: The rotary device 51 moves to the front end of the feed device 5, and at the same time the lifting and lowering device moves the first drill rod to the installation position on the feed device, ensuring that the center of the first drill rod is concentric with the center of the hydraulic chuck 54. After the rotary device 51 retracts, the hydraulic chuck 54 clamps the tail of the first drill rod. At the same time, after the mechanical gripper is released, the lifting and lowering device grabs the second drill rod and moves it to the waiting position. The feed device uses the first drill rod to complete the drilling operation.

[0072] Step 3: The rotary device 51 remains at the front end of the feed device 5, the clamp 52 grips the tail of the first drill rod, the hydraulic chuck 54 opens, and simultaneously the mechanical gripper grabs the second drill rod and transfers it to the installation position on the feed device, ensuring that the center of the second drill rod is coaxial with the first drill rod. The telescopic device of the rotary threading mechanism advances to connect the motor to the threaded end of the second drill rod, while the mechanical gripper releases, and the rotary threading mechanism rotates and feeds the second drill rod, quickly and accurately connecting the male thread of the second drill rod to the female thread of the first drill rod. Connection; the mechanical gripper grabs the second drill rod, while the motor of the rotary mechanism rotates in the opposite direction to separate the second drill rod from the rotary mechanism, and the mechanical gripper releases; finally, the upper and lower rods retract and rotate to grab the third drill rod and transfer it to the waiting position; the rotary device 51 retracts and uses the hydraulic chuck 54 to clamp the tail of the second drill rod, rotating in the forward direction, keeping the clamp 53 clamping the tail of the first drill rod, so that the first drill rod and the second drill rod reach the predetermined torque, completing the connection between the first drill rod and the second drill rod;

[0073] Step 4: The first robotic arm of the water pipe assembly / disassembly device rotates to make the water pipe 2 and the second drill rod concentric. At the same time, the second translation device 41 and the water pipe installation drive motor 44 cooperate to connect the output end of the water pipe to the female thread of the second drill rod. The solenoid valve group 46 is opened to connect the water circuit. At the same time, the clamp 53 is released. The water pipe assembly / disassembly device works forward together with the feeding device 5 to complete the drilling construction using the second drill rod.

[0074] Step 5: The clamp 53 clamps the tail of the second drill rod, the hydraulic chuck 54 releases, the rotary device 51 remains at the front end of the feed device 5, the water pipe assembly / disassembly device rotates in the opposite direction to separate the water pipe 2 from the second drill rod, and finally the water pipe assembly / disassembly device retracts to the initial position to wait.

[0075] Step Six: Complete the subsequent drill pipe construction in the same manner as Steps Three and Five.

[0076] In a specific embodiment, each telescopic device of the present invention can be a hydraulic telescopic device. The translation device can be a sliding rod and a slider structure on the sliding rod or a ball screw structure, and the automatic up-and-down movement of the entire device can be achieved by driving it with a variable frequency motor.

[0077] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0078] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0079] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A rod loading / unloading device, characterized in that, Includes the upper and lower pole device and the water-powered assembly / disassembly device; The upper and lower pole device includes an angle adjustment device, a screw mechanism, and a mechanical gripper; the angle adjustment device is located beside the part of the pole to be added; the screw mechanism and the mechanical gripper are mounted on the angle adjustment device; The angle adjustment device is used to adjust the position of the mechanical gripper relative to the drill rod to be added or the drill rod to be unloaded; the angle adjustment device is also used to adjust the position of the rotary locking mechanism relative to the rod to be added or the drill rod to be unloaded; the angle adjustment device is also used to adjust the relative position between the mechanical gripper and the rotary locking mechanism; The mechanical gripper is used to grab drill rods to be added or to be unloaded. With the assistance of a mechanical gripper, the rotary locking mechanism is axially connected to the drill rod to be added by rotating itself, and then completes the connection between the drill rod and the part to be added by rotating itself; the rotary locking mechanism is also used to complete the connection with the drill rod to be removed and the disassembly of the drill rod by rotating itself. The water-filling device is located beside the rod to be added and is used to transport water to the drill rod installed at the rod to be added and to install the water on the drill rod; it is also used to remove the water from the drill rod after the water-filling work is completed and to remove the water away from the drill rod with the water. The angle adjustment device includes a first translation device, a lifting mechanism, a first telescopic device, a second telescopic device, and a third telescopic device; The first translation device is used to be set on the side of the part to be added, the lifting mechanism is installed on the first translation device, the first telescopic device is installed on the lifting mechanism, the second telescopic device and the third telescopic device are installed on the first telescopic device, the mechanical gripper is installed on the second telescopic device, and the screw mechanism is installed on the third telescopic device. The first translation device drives the lifting mechanism and the components installed on the lifting mechanism to perform translational movements, wherein the lifting direction of the lifting mechanism is perpendicular to the translation direction of the first translation device. The lifting mechanism drives the first telescopic device and the components installed on the first telescopic device to rise and fall, wherein the telescopic direction of the first telescopic device is perpendicular to the lifting direction of the lifting mechanism. The third telescopic device drives the rotating mechanism to move, the second telescopic device drives the mechanical gripper to move, and the telescopic direction of the second telescopic device is perpendicular to the telescopic direction of the third telescopic device. At the same time, the telescopic direction of the second telescopic device and the telescopic direction of the third telescopic device are both perpendicular to the telescopic direction of the first telescopic device. The mechanical gripper grasps or releases the drill rod by opening and closing, and the opening and closing direction of the mechanical gripper is perpendicular to the extension and retraction direction of the third telescopic device.

2. The loading and unloading rod device as described in claim 1, characterized in that, The first telescopic device is mounted on the lifting mechanism via a mounting bracket.

3. The loading and unloading rod device as described in claim 1, characterized in that, The screw fastening mechanism includes a first motor, which is mounted on a third telescopic device. The output shaft of the first motor is provided with a drill rod connection structure, and the output direction of the first motor output shaft is parallel or in the same direction as the telescopic direction of the third telescopic device.

4. The loading and unloading rod device as described in claim 1, characterized in that, It also includes a storage tray, which is placed below the mechanical gripper. The length direction of the storage tray can accommodate the axial length of the drill rod, and the length direction of the storage tray is perpendicular to the opening and closing direction of the mechanical gripper. At the same time, the bottom surface of the storage tray is inclined, and the inclination direction of the bottom surface is perpendicular to the length direction.

5. The loading and unloading rod device as described in claim 1, characterized in that, The toilet disassembly and assembly device includes a second translation device, a first robotic arm, a second robotic arm, and a toilet disassembly and assembly power device; The second translation device is used to be positioned beside the part of the rod to be added. One end of the first robotic arm is mounted on the second translation device, and the other end of the second robotic arm is rotatably connected to the first robotic arm. The power output shaft of the water toilet assembly / disassembly power device is provided with a water toilet component mounting part, and the water toilet assembly / disassembly power device is mounted on the free end of the second robotic arm. The second translation device is used to move the first robotic arm and the mounting components on the first robotic arm closer to or away from the part of the drill pipe to be removed from the water tank; when the first robotic arm is close to the part to be removed from the water tank, the rotation axis of the second robotic arm and the first robotic arm is parallel to the axis of the part to be removed from the water tank. The second robotic arm rotates relative to the first robotic arm, causing the toilet removal and assembly power device to move closer to or away from the toilet to be removed. When the toilet removal and assembly power device moves closer to the toilet to be removed, the feed direction of the toilet removal and assembly power device is coaxial with the axis of the toilet to be removed.

6. The loading and unloading rod device as described in claim 5, characterized in that, The power device for disassembling and assembling the water toilet is a second motor.

7. The loading and unloading rod device as described in claim 5, characterized in that, The power unit for disassembling and assembling the toilet also includes a set of solenoid valves for controlling the opening and closing of the water inlet and outlet passages inside the toilet.

8. The loading and unloading rod device as described in claim 5, characterized in that, The translation direction of the second translation device is parallel to the motion trajectory of the first translation device.

9. The loading and unloading rod device as described in claim 5, characterized in that, The first translation device and the second translation device are located on both sides of the part of the rod to be added.

10. A rear-mounted bar system, characterized in that, It includes a feeding device and a rod-adding / unloading device as described in any one of claims 1-9, wherein a rod-to-be-added portion is provided at one axial end of the feeding device.

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