Automatic drilling rig drill rod storage and retrieval system with cleaning function

Abstract

The application discloses an automatic drilling rig drill rod storage and taking system with a cleaning function, which comprises a drill rod box, a door-shaped frame, a manipulator, a drill rod cleaning device and a drilling rig cleaning device; the drill rod box comprises an outer box body, inner box frames on two sides, a box body driving device and a plurality of box body guide rails; the drill rod cleaning device comprises a cleaning seat plate, a second guide rail, a second driving mechanism, a telescopic vertical arm, a second sliding block, a first rotary mechanism, a vertical arm, a first water spraying mechanism and a second water spraying mechanism; the drilling rig cleaning device comprises a second rotary mechanism, a swing telescopic arm, a third rotary mechanism and a third water spraying mechanism; the drill rod box and a drilling device are integrated on the same rotary platform, a single multi-degree-of-freedom manipulator is adopted, and the drill rod grabbing efficiency is greatly improved; meanwhile, the drill rod inner box is arranged as two slidable half inner boxes, drill rod centering is facilitated, and the middle part of the drill rod is grabbed; meanwhile, the cleaning device is added to the manipulator, and the outer wall and the core of the drill rod can be cleaned before the drill rod is recycled.

Description

Technical Field

[0001] This invention relates to the field of drilling equipment technology, and more specifically to an automatic drilling rig drill rod storage and retrieval system with a cleaning function. Background Technology

[0002] In coal mine drilling operations, tracked fully automatic drilling rigs are increasingly being used. Typically, a drill rod box is installed on the tracked vehicle, and a multi-degree-of-freedom manipulator is usually set between the drill rod box and the drilling device. The manipulator needs to perform actions such as lifting, horizontal rotation, and vertical rotation between the drill rod box and the clamp set at the front end of the drilling rig, to take the drill rod out of the drill rod box and send it to the clamp, or to grab the drill rod that needs to be removed from the clamp and put it back into the drill rod box.

[0003] The drill pipe box, located on the tracked vehicle, is used for temporary storage of drill pipes and needs to be easy to store and retrieve. However, existing tracked drilling rigs have the following drawbacks:

[0004] 1. For drilling rigs with omnidirectional drilling capabilities, the drilling rig is usually placed on a separate rotary platform, which means that the drill rod box and the drilling rig are not on the same platform. It takes 2-3 robotic arms to feed the drill rod from the drill rod box into the drilling rig, which makes the efficiency of the robotic arms in grasping the drill rod relatively low.

[0005] 2. The width and height of the drill rod box are fixed, which makes it impossible to center the drill rod. As a result, the robot arm does not always grasp the center part of the drill rod when it picks up different drill rods. When the drilling depth is not large, the robot arm operates at a high position throughout the process.

[0006] 3. The working environment underground is extremely harsh, with a lot of dust and stones. It is difficult to clean the dust and stones on the surface or inside of the recovered drill pipe, and the drill pipe is easy to get stuck. Workers need to clean the drill pipe box from time to time.

[0007] 4. The working environment downhole is extremely harsh. Dust and stones can easily accumulate in the gaps between the chuck or clamping slips. In order to clamp the drill pipe, it is necessary to clean and flush it manually and regularly.

[0008] To address the aforementioned issues, an automated drill rod storage and retrieval system with a cleaning function was designed. The drill rod box and drilling device are integrated onto the same rotary platform, employing a single multi-degree-of-freedom manipulator to significantly improve drill rod gripping efficiency. The drill rod inner box is designed as two sliding inner frames, facilitating drill rod centering and gripping of the middle section. The partitions of the half-box frame are designed as two insertable sections, allowing for adjustments to the partition spacing and the selection of whether to install the lower partition or the entire partition, depending on the drilling depth or drill rod size. A cleaning device is added to the manipulator to clean the outer wall and core of the drill rod before retrieval. The system also includes a function to clean the chuck or gripper. Summary of the Invention

[0009] In view of this, the purpose of this invention is to provide an automatic drill rod storage and retrieval system for drilling rigs with a cleaning function. The system integrates the drill rod box and the drilling device on the same rotary platform to improve drill rod gripping efficiency. Simultaneously, the inner box of the drill rod is designed as two sliding inner box frames, facilitating drill rod centering and gripping of the middle part of the drill rod. The partitions of the half-box frame are designed as two-section inserts, allowing for easy adjustment of the partition spacing and whether to install the lower partition or the entire partition, depending on the drilling depth or drill rod size. Furthermore, a cleaning device is added to the robotic arm to facilitate cleaning the outer wall and core of the drill rod before retrieval. The system also has a function for cleaning the chuck or gripper.

[0010] This invention is achieved through the following technical solution:

[0011] An automatic drilling rig drill rod storage and retrieval system with cleaning function includes a drill rod box, a liftable portal frame slidably disposed on the outer walls of both sides of the drill rod box, a robot arm disposed in the portal frame, a drill rod cleaning device disposed on the front side of the portal frame, and a drilling rig cleaning device disposed on the drill rod cleaning device.

[0012] The robotic arm includes a robotic arm frame connected to the portal frame, a wrist located at the lower end of the robotic arm frame, and a gripping mechanism located on the wrist.

[0013] The drill pipe box includes an outer box body, inner box frames slidably disposed on both sides of the outer box body, a box drive device disposed between the two inner box frames for driving the two inner box frames to slide, and multiple box guide rails disposed between the outer box body and the two inner box frames.

[0014] The drill pipe cleaning device includes a cleaning seat plate disposed at the top of the portal frame, a second guide rail disposed on the cleaning seat plate, a second drive mechanism slidably disposed on the second guide rail, a telescopic longitudinal arm slidably disposed on the second guide rail, second sliders slidably disposed on both sides of the second guide rail for fixing the second drive mechanism and the telescopic longitudinal arm, a first rotation mechanism disposed at the outer end of the telescopic longitudinal arm, a vertical arm disposed on the first rotation mechanism, a first water spraying mechanism disposed at the lower end of the vertical arm, and a second water spraying mechanism disposed on the side wall of the vertical arm.

[0015] The drilling rig cleaning device includes a second rotary mechanism located on the upper part of the vertical arm, a swing telescopic arm located on the second rotary mechanism, a third rotary mechanism located at the other end of the swing telescopic arm, and a third water spraying mechanism located on the third rotary mechanism.

[0016] Furthermore, the portal frame includes a first guide rail on the outer walls of both sides of the drill pipe box, a liftable frame column slidably mounted on the first guide rail, a first drive mechanism slidably mounted on the first guide rail for moving the corresponding frame column, a first slider slidably mounted on both sides of the first guide rail for fixing the corresponding frame column and the first drive mechanism, and a crossbeam mounted on the top of the two frame columns.

[0017] The first driving mechanism includes a first rack disposed on the first guide rail, a first drive box disposed on two corresponding first sliders, a first drive gear disposed on the first drive box and meshing with the first rack, and a first drive motor disposed on the first drive box for driving the first drive gear to rotate.

[0018] Furthermore, the wrist includes a first wrist connected to the robotic arm frame for driving the clamping mechanism to rotate in a vertical plane, and a second wrist disposed on the first wrist for driving the clamping mechanism to rotate in a horizontal plane;

[0019] The first wrist is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism includes an arc-shaped stop on the outer shell of the first wrist and a limiting block on the first wrist axis of the first wrist.

[0020] Furthermore, the clamping mechanism includes a clamping connecting sleeve connected to the second wrist, a fixed clamping seat disposed on the clamping connecting sleeve, a movable clamping block rotatably disposed on the fixed clamping seat, and a clamping cylinder disposed on the fixed clamping seat for pushing the movable clamping block to rotate.

[0021] Furthermore, the second drive mechanism includes a second rack disposed on the second guide rail, a second drive box disposed on two corresponding second sliders, a second drive gear rotatably disposed on the second drive box and meshing with the second rack, and a second drive motor disposed on the second drive box for driving the second drive gear to rotate.

[0022] Furthermore, the first water spraying mechanism includes a first water spraying seat disposed at the lower end of the vertical arm and two first nozzles disposed on the first water spraying seat;

[0023] The second water spraying mechanism includes a second water spraying seat disposed on the side wall of the vertical arm and a second nozzle disposed on the second water spraying seat.

[0024] Furthermore, the third water spraying mechanism includes a water spray frame disposed on the rotating part of the third rotary mechanism, a third nozzle disposed on the water spray frame, and a water distribution connector disposed on the fixed part of the third rotary mechanism.

[0025] Furthermore, the inner box frame includes an inner box frame body and a plurality of partitions inserted into the inner box frame body;

[0026] The inner frame includes an integrally formed bottom plate, a vertical plate, and two side plates.

[0027] The beneficial effects of this invention are as follows:

[0028] First, the drill rod inner box is designed with two sliding inner box frames to facilitate drill rod alignment. Before conveying the drill rod, the two inner box frames are moved inward and outward multiple times by the box drive device. Through multiple vibrations, the middle plane of the drill rod is made to be in the same vertical plane, which makes it easier for the robot arm to grip the middle part of the drill rod. When storing and retrieving the drill rod, the two inner box frames are moved outward by a certain distance, which increases the distance between the two ends of the drill rod and the inner wall of the box, making it easier for the robot arm to store and retrieve the drill rod.

[0029] Secondly, the arrangement of the drill rod box integrates the drill rod box and the drilling device on the same rotary platform, and sets up a single multi-degree-of-freedom manipulator. By setting a wrist in the manipulator, the manipulator becomes more flexible and versatile. Compared with other drilling rigs (which use dual or triple manipulators), the number of manipulators is reduced, and the drill rod gripping efficiency is greatly improved.

[0030] Third, by setting up a drill pipe cleaning device, during the drill pipe retrieval process, the first water spraying mechanism is moved by the telescopic arm to spray water onto the top of the drill pipe, and the second drive mechanism drives the first water spraying mechanism to move along the axial direction of the drill pipe to rinse the drill pipe; the first rotary mechanism swings back and forth along the cross-section of the drill pipe to rinse it; after rinsing, the drill pipe is clamped by a robotic arm, and then the drill pipe is rotated at a certain angle by the second wrist to facilitate the second water spraying mechanism to rinse the inner cavity of the drill pipe; the cleaned drill pipe is retrieved into the drill pipe box by the robotic arm; at the same time, the two half-boxes are moved to the outside to facilitate the insertion of the drill pipe;

[0031] Fourth, after the drill pipe is retrieved, 1) Clamp flushing: The swing telescopic arm is rotated vertically downwards via the second rotation mechanism, and then the third water spray mechanism is adjusted to the upper half of the clamp's inner hole via the third rotation mechanism. The clamp is flushed along the axial direction via the second drive mechanism, while the telescopic arm moves back and forth to complete the flushing along the clamp's cross-sectional direction. After flushing the upper half of the clamp, the third water spray mechanism is adjusted to the lower half of the clamp's inner hole via the third rotation mechanism, and the lower half of the clamp is flushed using the above flushing method. 2) Chuck flushing: The third water spray mechanism is adjusted to the upper half of the chuck's inner hole via the third rotation mechanism, and the chuck is flushed along the axial direction via the second drive mechanism. The chuck is flushed along the cross-sectional direction via the telescopic arm moves back and forth. After flushing the upper half of the chuck, the third water spray mechanism is adjusted to the lower half of the chuck's inner hole via the third rotation mechanism, and the lower half of the chuck is flushed using the above flushing method. Attached Figure Description

[0032] Figure 1 This is the assembly drawing of the present invention;

[0033] Figure 2 This is a schematic diagram of the assembly of the drill pipe box, the portal frame, and the mechanical receiver of the present invention;

[0034] Figure 3 This is a perspective view of the first driving mechanism of the present invention;

[0035] Figure 4 This is a schematic diagram of the assembly of the clamping mechanism and the wrist of the present invention;

[0036] Figure 5 This is a schematic diagram of the assembly of the drill pipe cleaning device and the drilling rig cleaning device of the present invention;

[0037] Figure 6 This is a schematic diagram of the main structure of the drill pipe cleaning device of the present invention;

[0038] Figure 7 This is a schematic diagram of the main structure of the drilling rig cleaning device of the present invention;

[0039] Figure 8 This is a perspective view of the second driving mechanism of the present invention;

[0040] Figure 9 This is a schematic diagram of the drill pipe box of the present invention with half of the partition plate installed;

[0041] Figure 10 This is a schematic diagram of the arrangement of the drilling device and the present invention on a tracked vehicle. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0046] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0047] like Figure 1-10 As shown, an automatic drilling rig drill rod storage and retrieval system with cleaning function includes a drill rod box 1, a liftable portal frame 2 slidably disposed on the outer walls of both sides of the drill rod box 1, a robot arm 3 disposed in the portal frame 2, a drill rod cleaning device 4 disposed on the front side of the portal frame 2, and a drilling rig cleaning device 5 disposed on the drill rod cleaning device 4; in practice, the drill rod storage and retrieval system 100 and the drilling device 300 are fixedly mounted on a rotary platform 200 that is rotatably connected to a tracked vehicle 400.

[0048] The robotic arm 3 includes a robotic arm frame 31 connected to the portal frame 2, a wrist 32 disposed at the lower end of the robotic arm frame 31, and a gripping mechanism 33 disposed on the wrist 32;

[0049] The drill rod box 1 includes an outer box 11, inner box frames 12 slidably disposed on both sides of the outer box 11, a box drive device 13 disposed between the two inner box frames 12 for driving the two inner box frames 12 to slide, and multiple box guide rails 14 disposed between the outer box 11 and the two inner box frames 12. In implementation, the box drive device adopts a double telescopic hydraulic cylinder, and the box guide rails are two symmetrically distributed on both sides of the box drive device. The drill rod inner box is configured as two slidable inner box frames to facilitate drill rod alignment. Before conveying the drill rod, the two inner box frames are moved inward and outward multiple times by the box drive device. Through multiple vibrations, the middle plane of the drill rod is located in the same vertical plane, which facilitates the robot arm to grasp the middle part of the drill rod. When storing and retrieving the drill rod, the two inner box frames are moved outward by a certain distance, which increases the distance between the two ends of the drill rod and the inner wall of the box, which facilitates the robot arm to store and retrieve the drill rod.

[0050] The drill pipe cleaning device 4 includes a cleaning seat plate 41 mounted on the top of the portal frame 2, a second guide rail 42 mounted on the cleaning seat plate, a second drive mechanism 43 slidably mounted on the second guide rail 42, a telescopic longitudinal arm 44 slidably mounted on the second guide rail 42, second sliders 45 slidably mounted on both sides of the second guide rail 42 for fixing the second drive mechanism 43 and the telescopic longitudinal arm 44, a first rotary mechanism 46 mounted on the outer end of the telescopic longitudinal arm 44, a vertical arm 47 mounted on the first rotary mechanism 46, a first water spraying mechanism 48 mounted on the lower end of the vertical arm, and a second water spraying mechanism 49 mounted on the side wall of the vertical arm; During operation, the telescopic boom includes a telescopic outer boom, a telescopic inner boom, and a telescopic boom cylinder. By incorporating a drill rod cleaning device, during drill rod retrieval, the telescopic boom first moves a first water spray mechanism above the drill rod, and a second drive mechanism drives the first water spray mechanism to move along the drill rod's axial direction to rinse it. A first rotary mechanism swings back and forth along the drill rod's cross-section to rinse it. After rinsing, a robotic arm grips the drill rod, and then the drill rod is rotated at a certain angle via a second wrist, facilitating the second water spray mechanism to rinse the drill rod's inner cavity. The cleaned drill rod is then retrieved into the drill rod box by the robotic arm. Simultaneously, the two half-boxes are moved to the outside to facilitate the insertion of the drill rod.

[0051] The drilling rig cleaning device 5 includes a second rotary mechanism 51 located on the upper part of the vertical arm 47, a swing telescopic arm 52 located on the second rotary mechanism 51, a third rotary mechanism 53 located at the other end of the swing telescopic arm, and a third water spraying mechanism 54 located on the third rotary mechanism 53. In practice, the first, second, and third rotary mechanisms are all transmission structures of worm gear reducers. After the drill rod is recovered, 1) the holder is flushed: the swing telescopic arm is rotated to the vertical downward position through the second rotary mechanism, and then the third water spraying mechanism is adjusted to the upper part of the inner hole of the holder through the third rotary mechanism. The holder is flushed along the axial direction through the second drive mechanism, while the telescopic arm moves back and forth. The first part of the chuck is flushed along the cross-sectional direction of the chuck. After flushing the upper part of the chuck, the third water spray mechanism is adjusted to point to the lower part of the inner hole of the chuck through the third rotary mechanism. The lower part of the chuck is then flushed using the above-mentioned flushing method. 2) Chuck flushing: The third water spray mechanism is adjusted to point to the upper part of the inner hole of the chuck through the third rotary mechanism. The chuck is flushed along the axial direction through the second drive mechanism. At the same time, the chuck is flushed along the cross-sectional direction by moving the telescopic longitudinal arm back and forth. After flushing the upper part of the chuck, the third water spray mechanism is adjusted to point to the lower part of the inner hole of the chuck through the third rotary mechanism. The lower part of the chuck is then flushed using the above-mentioned flushing method.

[0052] In this embodiment, the portal frame 2 includes a first guide rail 21 on the outer walls of both sides of the drill rod box 1, a liftable frame column 22 that is slidably mounted on the first guide rail 21, a first drive mechanism 23 that is slidably mounted on the first guide rail 21 for moving the corresponding frame column 22, a first slider 24 that is slidably mounted on both sides of the first guide rail 21 for fixing the corresponding frame column 22 and the first drive mechanism 23, and a crossbeam 25 mounted on the top of the two frame columns 22.

[0053] The first drive mechanism 23 includes a first rack 231 mounted on the first guide rail 21, a first drive box 232 mounted on two corresponding first sliders 24, a first drive gear 233 rotatably mounted on the first drive box 232 and meshing with the first rack 231, and a first drive motor 234 mounted on the first drive box 232 for driving the first drive gear 232 to rotate.

[0054] In this embodiment, the wrist 32 includes a first wrist 321 connected to the robot arm frame for driving the clamping mechanism to rotate in the vertical plane and a second wrist 322 disposed on the first wrist for driving the clamping mechanism to rotate in the horizontal plane.

[0055] The first wrist is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism includes an arc-shaped stop 323 on the outer shell of the first wrist and a limiting block 324 on the first wrist shaft of the first wrist; the structure of the first / second wrist is a transmission structure of a worm gear reducer.

[0056] In this embodiment, the clamping mechanism 33 includes a clamping connecting sleeve 331 connected to the second wrist 322, a fixed clamping seat 332 disposed on the clamping connecting sleeve 331, a movable clamping block 333 rotatably disposed on the fixed clamping seat 332, and a clamping cylinder 334 disposed on the fixed clamping seat 332 for pushing the movable clamping block 333 to rotate.

[0057] During implementation, an absolute encoder 335 for measuring the rotation angle of the fixed clamping seat is installed in the clamping connecting sleeve. The housing of the absolute encoder is connected to the connecting sleeve, and the rotating shaft is connected to the second wrist through a coupling. A pressure sensor 336 is installed on one side of the fixed clamping seat to detect whether the drill rod is clamped.

[0058] In this embodiment, the second drive mechanism 43 includes a second rack 431 disposed on the second guide rail 42, a second drive box 432 disposed on two corresponding second sliders 45, a second drive gear 433 rotatably disposed on the second drive box 432 and meshing with the second rack 431, and a second drive motor 434 disposed on the second drive box 432 for driving the second drive gear 433 to rotate.

[0059] In this embodiment, the first water spraying mechanism 48 includes a first water spraying seat 481 disposed at the lower end of the vertical arm 47 and two first nozzles 482 disposed on the first water spraying seat 481; used to rinse the outer wall of the drill rod.

[0060] The second water spraying mechanism 49 includes a second water spraying seat 491 disposed on the side wall of the vertical arm 47 and a second nozzle 492 disposed on the second water spraying seat 491 for rinsing the inner hole of the drill rod.

[0061] In this embodiment, the third water spraying mechanism 54 includes a water spray frame 541 disposed on the rotating part of the third rotary mechanism 53, a third nozzle 542 disposed on the water spray frame 541, and a water distribution connector 543 disposed on the fixed part of the third rotary mechanism 53; used for rinsing the clamp and the power head; in practice, the water distribution connector is an integrally formed connecting plate, a water pipe connector disposed on one side of the connecting plate, and a water distribution pipe disposed on the other side of the water distribution plate, and a water distribution sealing ring is provided at the end of the water distribution pipe inserted into the water distribution frame.

[0062] In this embodiment, the inner box frame 12 includes an inner box frame body and a plurality of partitions 121 inserted into the inner box frame body;

[0063] The inner box frame 1 includes an integrally set frame bottom plate 122, frame upright plate 123 and two side plate 124;

[0064] During implementation, the frame plate is equipped with slots for easy insertion of partitions. The partitions are inserted and fixed with multiple bolts. The partitions in the inner box of the drill rod are designed to be detachable, making it easy to add partitions according to the size of the drill rod. At the same time, the partitions are set as upper and lower pieces, making it easy to add partitions according to different drilling depths. When the drilling depth is not deep, the lifting height of the robot arm can be reduced.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automatic drilling rig drill rod storage and retrieval system with cleaning function, characterized in that: It includes a drill pipe box, a liftable portal frame that is slidably disposed on the outer walls of both sides of the drill pipe box, a robot arm disposed in the portal frame, a drill pipe cleaning device disposed on the front side of the portal frame, and a drilling rig cleaning device disposed on the drill pipe cleaning device. The robotic arm includes a robotic arm frame connected to the portal frame, a wrist located at the lower end of the robotic arm frame, and a gripping mechanism located on the wrist. The drill pipe box includes an outer box body, inner box frames slidably disposed on both sides of the outer box body, a box drive device disposed between the two inner box frames for driving the two inner box frames to slide, and multiple box guide rails disposed between the outer box body and the two inner box frames. The drill pipe cleaning device includes a cleaning seat plate disposed at the top of the portal frame, a second guide rail disposed on the cleaning seat plate, a second drive mechanism slidably disposed on the second guide rail, a telescopic longitudinal arm slidably disposed on the second guide rail, second sliders slidably disposed on both sides of the second guide rail for fixing the second drive mechanism and the telescopic longitudinal arm, a first rotation mechanism disposed at the outer end of the telescopic longitudinal arm, a vertical arm disposed on the first rotation mechanism, a first water spraying mechanism disposed at the lower end of the vertical arm, and a second water spraying mechanism disposed on the side wall of the vertical arm. The drilling rig cleaning device includes a second rotary mechanism located on the upper part of the vertical arm, a swing telescopic arm located on the second rotary mechanism, a third rotary mechanism located at the other end of the swing telescopic arm, and a third water spraying mechanism located on the third rotary mechanism. The wrist includes a first wrist connected to the robotic arm frame for driving the clamping mechanism to rotate in a vertical plane, and a second wrist disposed on the first wrist for driving the clamping mechanism to rotate in a horizontal plane. The first wrist is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism includes an arc-shaped stop block provided on the outer shell of the first wrist and a limiting block provided on the first wrist axis of the first wrist; The first water spraying mechanism includes a first water spraying seat disposed at the lower end of the vertical arm and two first nozzles disposed on the first water spraying seat; The second water spraying mechanism includes a second water spraying seat disposed on the side wall of the vertical arm and a second nozzle disposed on the second water spraying seat; The third water spraying mechanism includes a water spray frame mounted on the rotating part of the third rotary mechanism, a third nozzle mounted on the water spray frame, and a water distribution connector mounted on the fixed part of the third rotary mechanism.

2. The automatic drill rod storage and retrieval system with cleaning function according to claim 1, characterized in that: The portal frame includes first guide rails on the outer walls of both sides of the drill pipe box, liftable frame columns that are slidably mounted on the first guide rails, first drive mechanisms that are slidably mounted on the first guide rails for moving the corresponding frame columns, first sliders that are slidably mounted on both sides of the first guide rails for fixing the corresponding frame columns and the first drive mechanisms, and crossbeams mounted on the top of the two frame columns. The first driving mechanism includes a first rack disposed on the first guide rail, a first drive box disposed on two corresponding first sliders, a first drive gear disposed on the first drive box and meshing with the first rack, and a first drive motor disposed on the first drive box for driving the first drive gear to rotate.

3. The automatic drilling rig drill rod storage and retrieval system with cleaning function according to claim 1, characterized in that: The clamping mechanism includes a clamping connecting sleeve connected to the second wrist, a fixed clamping seat disposed on the clamping connecting sleeve, a movable clamping block rotatably disposed on the fixed clamping seat, and a clamping cylinder disposed on the fixed clamping seat for pushing the movable clamping block to rotate.

4. The automatic drilling rig drill rod storage and retrieval system with cleaning function according to claim 1, characterized in that: The second drive mechanism includes a second rack mounted on the second guide rail, a second drive box mounted on two corresponding second sliders, a second drive gear mounted on the second drive box and meshing with the second rack, and a second drive motor mounted on the second drive box for driving the second drive gear to rotate.

5. An automatic drilling rig drill rod storage and retrieval system with cleaning function according to claim 1, characterized in that: The inner box frame includes an inner box frame body and multiple partitions inserted into the inner box frame body; The inner frame includes an integrally formed bottom plate, a vertical plate, and two side plates.

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