Rig rear pipe adding and removing system and method with large capacity storage pipe function

Abstract

The present application provides a kind of drill rig rear part adds and unloads drill rod system and method with large capacity storage drill rod function, the system includes drill rod storehouse, drill rod storehouse includes leveling base, U-shaped drill rod rack is installed on leveling base, and lifting assembly is also vertically installed on leveling base.Lifting assembly includes left rail and right rail, and the bottom end of left rail and right rail is vertically fixedly installed on leveling base, and upper crossbeam is installed on left rail and right rail, and moving assembly is installed between upper crossbeam and right rail, and angle adjusting assembly is arranged between upper crossbeam and left rail.Upper crossbeam is installed with layer code rod assembly.Leveling base is also installed with take and place rod assembly.The present application can realize the quick conversion of adding drill rod function and unloading drill rod function, and unloading drill rod efficiency is high, more suitable for the actual demand of coal mine underground drilling construction.The present application is suitable for mechanized addition and unloading of long drill rod under different inclination angle drilling state of gallery drill, improves work efficiency and also reduces manual labor intensity, has strong applicability.

Description

Technical Field

[0001] This invention belongs to the field of coal mine tunnel drilling technology, and relates to a drill rod loading and unloading system, specifically to a drill rod loading and unloading system and method at the rear of a drilling rig with a large capacity drill rod storage function. Background Technology

[0002] In recent years, research on drill rod loading and unloading devices for coal mine tunnel drilling rigs has made significant progress in response to the needs of intelligent coal mine construction. Based on the different loading and unloading positions within the tunnel drilling rig, drill rod loading and unloading devices are mainly divided into two types: intermediate loading / unloading and rear loading / unloading. The intermediate loading / unloading method involves loading and unloading drill rods between the drill rig's power head and the clamp. Drill rig clamps using this method all have a release function, and a water supply device is installed on the central pipe of the drill rig's power head. Therefore, the main function of this type of device is: when loading drill rods, it transfers the drill rod from the drill rod chamber to between the drill rig's power head and the clamp; when unloading drill rods, it removes the drill rod from between the drill rig's power head and the clamp and transfers it to the drill rod chamber. This type of device does not require a separate release function for the drill rod; the release and release actions are completed by the drill rig's power head and the clamp, making the loading and unloading process relatively simple. Currently, this type of device has received considerable research. The rear-mounted drill pipe loading and unloading method involves loading and unloading drill pipes from behind the drill rig's power head. This type of device requires both drill pipe uncoupling and water supply unit installation / removal capabilities, resulting in a more complex overall structure and more steps involved in loading and unloading. Both methods have their advantages and disadvantages. The intermediate loading and unloading method is more efficient at loading drill pipes during drilling, but less efficient at unloading them after drilling is complete. It also causes faster wear on the drill pipe threads and requires more space in the drilling area, making it unsuitable for loading or unloading drill pipes longer than the rig's feed stroke. The rear-mounted method, on the other hand, is more efficient at unloading drill pipes, causes less wear on the drill pipe threads during loading and unloading, and requires less space in the drilling area. It is suitable for 3m long drill pipes widely used in tunnel directional drilling and has a wide range of applications. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a drilling rig rear-end drill rod loading and unloading system and method with a large-capacity drill rod storage function, thereby solving the technical problem that the unloading efficiency of the intermediate drill rod loading and unloading method in the prior art needs to be further improved.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A drill rod loading and unloading system at the rear of a drilling rig with a large-capacity drill rod storage function. The system includes a drill rod compartment, which includes a leveling base. A U-shaped drill rod frame is installed on the leveling base. The U-shaped drill rod frame is a frame structure with an open top. Drill rods are stacked inside the U-shaped drill rod frame. A lifting component is also vertically installed on the leveling base.

[0006] The lifting assembly includes a left rail and a right rail. The bottom ends of the left rail and the right rail are vertically fixed on the leveling base. An upper crossbeam is installed on the left rail and the right rail. A moving assembly is installed between the upper crossbeam and the right rail. An angle adjusting assembly is installed between the upper crossbeam and the left rail. Driven by the moving assembly, the moving assembly moves up and down along the right rail, and the angle adjusting assembly moves up and down along the left rail. When the upper crossbeam moves to its upper limit position, the angle adjusting assembly can drive the upper crossbeam to rotate.

[0007] A layer bar assembly is installed on the upper crossbeam.

[0008] The leveling base is also equipped with a pick-and-place lever assembly.

[0009] The present invention also has the following distinguishing technical features:

[0010] The layer bar assembly includes a center seat, the top of which is fixedly connected to the center of the upper crossbeam; the bottom of the center seat is connected to the top of the sliding seat by a pair of longitudinally arranged first hydraulic cylinders.

[0011] The sliding seat is fixedly mounted on a pair of first cylindrical guide rails. The pair of first cylindrical guide rails are arranged laterally, and a limiting groove is fitted at each of the two ends of the pair of first cylindrical guide rails. The two limiting grooves are arranged longitudinally, and the two limiting grooves and the sliding seat are respectively connected by second hydraulic cylinders arranged laterally, so that the two limiting grooves can move laterally on the pair of first cylindrical guide rails.

[0012] Both limiting grooves are side-mounted U-shaped structures. The opening of the U-shaped structure faces inward and the bottom faces outward. Multiple positioning holes are provided at the bottom of the U-shaped structure. Conical positioning components are respectively provided on the outer side of the two limiting grooves. The conical body of the conical positioning component is matched with the positioning hole one by one. The conical positioning component and the limiting groove are connected by a third hydraulic cylinder and a slide rail sleeve assembly arranged in the horizontal direction.

[0013] The two limiting grooves have U-shaped openings in which limiting blocks are embedded. The limiting blocks have inner arc surfaces. The central axis of the inner arc surfaces is set horizontally. The central axis of the inner arc surfaces, the central axis of the positioning hole at the longitudinal end of the limiting groove, and the central axis of the cone at the longitudinal end of the cone positioning assembly coincide.

[0014] The two limiting grooves are also provided with a transversely arranged long shaft, which extends out of the transverse outer side of the two limiting grooves. The long shaft is driven to rotate by a first motor installed on the transverse outer side of the limiting groove. An arc-shaped baffle is installed on the part of the long shaft located between the two limiting grooves.

[0015] The stroke of the first hydraulic cylinder is equal to the radius R of the drill pipe's cross-section.

[0016] The two limiting grooves are each provided with a spring mounting cylinder on their outer lateral sides. The two spring mounting cylinders are fitted onto the long shaft. A first spring is also fitted onto the long shaft inside the spring mounting cylinder. One end of the first spring abuts against the limiting groove, and the other end of the first spring abuts against the spring mounting cylinder.

[0017] The two limiting grooves are connected together by horizontally arranged baffles to form a frame structure.

[0018] The pick-and-place rod assembly includes a connecting seat, which has an L-shaped structure. The bottom end of the connecting seat is connected to the side wall of the leveling base. A vertically arranged first inner sleeve is fitted inside the connecting seat. A lifting driver is provided between the first inner sleeve and the connecting seat. Under the drive of the lifting driver, the first inner sleeve can move up and down.

[0019] The upper end of the first inner sleeve is hinged to one end of the swing outer sleeve via the second motor. The other end of the swing outer sleeve is fitted with the second inner sleeve. A fourth hydraulic cylinder is provided between the second inner sleeve and the swing outer sleeve. The end of the second inner sleeve is connected to the clamping rod assembly.

[0020] The clamping rod assembly includes a mounting base, the top of which is fixedly mounted on the end of the second inner sleeve. The bottom of the mounting base is provided with two parallel second cylindrical guide rails, and two first grippers are mounted on the second cylindrical guide rails. The two first grippers are connected as one unit by a connecting rod. The lower part of the mounting base is also connected to the cylinder end of the fifth hydraulic cylinder, and the cylinder rod end of the fifth hydraulic cylinder is connected to one of the first grippers.

[0021] It also includes a robotic arm, which includes a connecting plate fixedly connected to the rear end of the drilling rig body; the connecting plate is connected to a translational track via a rotary bearing, a translational outer sleeve is fitted inside the translational track, the translational outer sleeve is set perpendicular to the translational track, a third inner sleeve with both ends extending out of the translational outer sleeve is inserted into the translational outer sleeve, a gripper base is set on the top of the third inner sleeve, the gripper base is set perpendicular to the translational outer sleeve, the gripper base and the translational track are arranged in a spatially skewed perpendicular arrangement, and a second gripper is installed on the gripper base.

[0022] It also includes a power water delivery device, which includes a water toilet body, on which a second spring is fitted. One end of the second spring abuts against a first limiting protrusion on the water toilet body, and the other end of the second spring abuts against one end of a housing. The housing is fitted onto the water toilet body and can move along the water toilet body, and the other end of the housing abuts against a second limiting protrusion on the water toilet body.

[0023] The water-filled body inside the housing is provided with a low groove, and a toothed surface is provided on one side of the bottom of the low groove; a third motor is provided outside the housing, and a gear is provided inside the housing. The third motor drives the gear to rotate, and the central axis of the gear is parallel to the central axis of the water-filled body; the gear is located in the low groove, and the axial width of the low groove is greater than or equal to twice the width of the gear.

[0024] The outer shell is symmetrically provided with handles. The gears and tooth surfaces are engaged and disengaged by axially moving the shell through the handles. When the gears and tooth surfaces are engaged, they can drive the water tank to rotate inside the shell.

[0025] This invention also protects a method for adding and removing drill rods at the rear of a drilling rig, which employs a drill rod adding and removing system at the rear of a drilling rig with a large capacity for storing drill rods, as described above.

[0026] Compared with the prior art, the present invention has the following technical effects:

[0027] (I) During underground drilling operations in coal mines, there are frequent switching processes between the drill rod addition function and the drill rod removal function. For example, when encountering the top / bottom plate during directional drilling, it is necessary to lift a certain length of drill rod. At this time, it is necessary to switch from the drill rod addition function to the drill rod removal function. When drilling is required after reaching the reserved branch point, it is necessary to switch from the drill rod removal function to the drill rod addition function. The drill rod addition and removal system of the present invention can realize the rapid switching between the drill rod addition function and the drill rod removal function, and the drill rod removal efficiency is high, which is more suitable for the actual needs of underground drilling operations in coal mines.

[0028] (II) The drill rod loading and unloading system at the rear of the drilling rig of the present invention is suitable for the mechanized loading and unloading of long drill rods in tunnel drilling rigs under different inclination drilling conditions, which improves work efficiency and reduces manual labor intensity, and has strong applicability.

[0029] (III) The drill rod storage capacity in the drill rod chamber of the drill rod loading and unloading system of the present invention is large, and it is not necessary to frequently replenish the drill rod in the drill rod chamber during long drilling operations, making it convenient to use.

[0030] (IV) In the drill pipe loading and unloading system of the present invention, the drill pipes are arranged in an alternating manner in the drill pipe chamber, which increases the contact area between adjacent drill pipes and makes the drill pipes more stable in the drill pipe chamber.

[0031] (V) The power water supply device in the drill rod loading and unloading system of the present invention has an automatic screw tightening and unscrewing function, which improves work efficiency and reduces manual labor intensity. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the drill rod loading and unloading system at the rear of the drilling rig, which has a large capacity for storing drill rods.

[0033] Figure 2 This is a schematic diagram of the overall structure of the drill pipe chamber.

[0034] Figure 3 This is a schematic diagram of the overall structure of the lifting assembly.

[0035] Figure 4 This is a schematic diagram showing drill pipes stacked in layers in a U-shaped drill pipe holder.

[0036] Figure 5 This is a schematic diagram of the overall structure of the layer bar assembly.

[0037] Figure 6 This is a top view of the layer bar assembly.

[0038] Figure 7 This is a schematic diagram of some parts of the layer bar assembly.

[0039] Figure 8 This is a schematic diagram of the overall structure of the pick-and-place rod assembly.

[0040] Figure 9 This is a schematic diagram of the front sectional structure of the clamping rod assembly.

[0041] Figure 10 This is a side view of the clamping rod assembly.

[0042] Figure 11 This is a schematic diagram of the overall structure of the robotic arm.

[0043] Figure 12 This is a front view structural diagram of the power water delivery device.

[0044] Figure 13 This is a schematic diagram of the test structure for a power water delivery device.

[0045] Figure 14 This is a schematic diagram of the drill rod loading and unloading system at the rear of a drilling rig with a large-capacity drill rod storage function during the loading of drill rods.

[0046] Figure 15 This is a schematic diagram of the drill rod loading and unloading system at the rear of a drilling rig with a large-capacity drill rod storage function during drill rod unloading.

[0047] The labels in the diagram represent: 1-Drill pipe chamber, 2-Mechanical arm, 3-Power water supply device, 4-Drilling rig, 5-Drill pipe.

[0048] 101-Leveling base, 102-U-shaped drill rod frame, 103-Lifting assembly, 104-Layer bar assembly, 105-Pick-up and drop-off rod assembly.

[0049] 10301-Left track, 10302-Right track, 10303-Upper crossbeam, 10304-Moving component, 10305-Angle adjustment component.

[0050] 10401-Center seat, 10402-First hydraulic cylinder, 10403-Sliding seat, 10404-First cylindrical guide rail, 10405-Limiting groove, 10406-Second hydraulic cylinder, 10407-Conical positioning assembly, 10408-Third hydraulic cylinder, 10409-Slide rail and slide sleeve assembly, 10410-Limiting block, 10411-Inner arc surface, 10412-Long shaft, 10413-First motor, 10414-Arc baffle, 10415-Spring mounting cylinder, 10416-First spring, 10417-Stop bar, 10418-Positioning hole.

[0051] 10501-Connecting seat, 10502-First inner sleeve, 10503-Lifting driver, 10504-Second motor, 10505-Swing outer sleeve, 10506-Second inner sleeve, 10507-Fourth hydraulic cylinder, 10508-Clamping rod assembly.

[0052] 1050801 - Mounting base, 1050802 - Second cylindrical guide rail, 1050803 - First gripper, 1050804 - Connecting rod, 1050805 - Fifth hydraulic cylinder.

[0053] 201-Connecting plate, 202-Slewing bearing, 203-Transfer track, 204-Transfer outer sleeve, 205-Third inner sleeve, 206-Base, 207-Second gripper, 208-Drive assembly.

[0054] 301-Water body, 302 Second spring, 303-First limiting boss, 304-Housing shell, 305-Second limiting boss, 306-Lower groove, 307-Gear surface, 308-Third motor, 309-Gear, 310-Handle, 311-Water pipe.

[0055] The specific content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0056] It should be noted that, unless otherwise specified, all devices, components and parts in this invention are based on devices, components and parts known in the prior art.

[0057] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0058] Example 1:

[0059] This embodiment provides a drill rod loading and unloading system at the rear of a drilling rig with a large-capacity drill rod storage function, such as... Figure 1 As shown, the system includes a drill pipe chamber 1, a robotic arm 2, and a power water supply device 3. The drill pipe chamber 1 is located at the right rear of the drilling rig 4. The robotic arm 2 is connected to the rear of the main machine of the drilling rig 4. The water supply device 3 is placed at the rear of the drilling rig 4 and is manually removed when adding drill pipes.

[0060] In this embodiment, the function of the drill pipe chamber 1 is to store the drill pipe 5, and to transport the drill pipe 5 to the robotic arm 2 during the drill pipe loading process, and to collect the drill pipe 5 transferred by the robotic arm 2 during the drill pipe unloading process.

[0061] In this embodiment, the function of the robotic arm 2 is to take the drill rod 5 from the drill rod chamber 1 and transport it to the rear of the main power head of the drilling machine 4 during the drill rod addition process. The drill rod 5 is screwed to the rear end of the drill rod in the power head by the manual operation of the power water supply device 3. During the drill rod removal process, the drill rod 5 with loosened threads at the rear of the power head of the drilling machine 4 is taken out with the cooperation of the power head and transported to the drill rod chamber 1.

[0062] In this embodiment, the function of the power water supply device 3 is to deliver high-pressure drilling flushing fluid to the center hole of the drill rod 5 to meet the normal drilling needs, and to tighten the threads at both ends of the newly added drill rod during the process of adding the drill rod.

[0063] like Figure 2 As shown, the drill pipe compartment 1 includes a leveling base 101, on which a U-shaped drill pipe frame 102 is installed. The U-shaped drill pipe frame 102 is a frame structure with an opening at the top, and the drill pipe 5 is stacked inside the U-shaped drill pipe frame 102. A lifting assembly 103 is also vertically installed on the leveling base 101.

[0064] like Figure 3As shown, the lifting assembly 103 includes a left rail 10301 and a right rail 10302. The bottom ends of the left rail 10301 and the right rail 10302 are vertically fixed on the leveling base 101. An upper crossbeam 10303 is installed on the left rail 10301 and the right rail 10302. A moving assembly 10304 is installed between the upper crossbeam 10303 and the right rail 10302. An angle adjusting assembly 10305 is provided between the upper crossbeam 10303 and the left rail 10301. Driven by the moving assembly 10304, the moving assembly 10304 moves up and down along the right rail 10302, and the angle adjusting assembly 10305 moves up and down along the left rail 10301. When the upper crossbeam 10303 moves to its upper limit position, the angle adjusting assembly 10305 can drive the upper crossbeam 10303 to rotate.

[0065] like Figure 2 As shown, a layer bar assembly 104 is installed on the upper crossbeam 10303.

[0066] like Figure 2 As shown, a pick-and-place lever assembly 105 is also installed on the leveling base 101.

[0067] In this embodiment, hydraulic support legs are provided at the four corners of the leveling base 101. The drill pipe chamber 1 is brought to a near-horizontal state by adjusting the hydraulic support legs.

[0068] In this embodiment, as Figure 4 As shown, drill rods 5 are stacked in layers within the U-shaped drill rod holder 102. Since the drill rods 5 have an outer cylindrical structure, to ensure the stability of the entire drill rod stack, adjacent layers of drill rods are staggered. Specifically, from top to bottom, the number of drill rods in odd-numbered layers is one more than the number in even-numbered layers. In the horizontal direction, the distance between the nth drill rod in an odd-numbered layer and the nth drill rod in an even-numbered layer differs by a distance R (n≤11, R is the radius of the drill rod's cross-section). This invention is configured to retrieve and place drill rods from the U-shaped drill rod holder 102 in layers, starting from the top layer and proceeding downwards. When placing drill rods, the bottom layer is placed first, followed by the layers stacked upwards.

[0069] In this embodiment, the function of the lifting component 103 is to drive the layer bar component 104 to move up and down.

[0070] In this embodiment, the moving component 10304 adopts a commonly known moving component 10304. Preferably, the moving component 10304 is composed of a motor, gear rack, shaft and key, and its function is to drive the upper crossbeam 10303 and the angle adjustment component 10305 to move up and down.

[0071] In this embodiment, the angle adjustment component 10305 adopts a commonly used angle adjustment component. Preferably, the angle adjustment component 10305 consists of a motor, gears, shafts, and keyways. Its function is to drive the upper crossbeam 10303 to rotate a certain angle along the axis of the angle adjustment component 10305. That is, when the upper crossbeam 10303 moves to the upper limit position, it drives the layer bar assembly 104 to rotate about the central axis of the angle adjustment component 10305, so that the layer bar assembly 104 presents a positive or negative angle.

[0072] As a preferred embodiment of this invention, such as Figures 5 to 7 As shown, the stack bar assembly 104 includes a center seat 10401, the top of which is fixedly connected to the center position of the upper crossbeam 10303; the bottom of the center seat 10401 is connected to the top of the sliding seat 10403 through a pair of longitudinally arranged first hydraulic cylinders 10402.

[0073] like Figure 5 As shown, the sliding seat 10403 is fixedly mounted on a pair of first cylindrical guide rails 10404. The pair of first cylindrical guide rails 10404 are arranged laterally, and a limiting groove 10405 is respectively fitted at both ends of the pair of first cylindrical guide rails 10404. The two limiting grooves 10405 are arranged longitudinally, and the two limiting grooves 10405 and the sliding seat 10403 are respectively connected by a second hydraulic cylinder 10406 ​​arranged laterally, so that the two limiting grooves 10405 can move laterally on the pair of first cylindrical guide rails 10404.

[0074] like Figure 5 and Figure 7 As shown, both limiting grooves 10405 are side-mounted U-shaped structures. The openings of the U-shaped structures face inwards, and the bottoms of the U-shaped structures face outwards. Multiple positioning holes 10418 are provided at the bottom of the U-shaped structures. Conical positioning components 10407 are respectively provided on the outward sides of the two limiting grooves 10405. The conical bodies of the conical positioning components 10407 are matched with the positioning holes 10418 one by one. The conical positioning components 10407 and the limiting grooves 10405 are connected by a third hydraulic cylinder 10408 and a slide rail and slide sleeve assembly 10409 arranged in the horizontal direction.

[0075] like Figure 5 As shown, a limiting block 10410 is embedded in the opening of the U-shaped structure of the two limiting grooves 10405. The limiting block 10410 is provided with an inner arc surface 10411. The central axis of the inner arc surface 10411 is arranged laterally. The central axis of the inner arc surface 10411, the central axis of the positioning hole 10418 at the longitudinal end of the limiting groove 10405, and the central axis of the cone at the longitudinal end of the cone positioning assembly 10407 coincide.

[0076] like Figure 5 As shown, a transversely arranged long shaft 10412 is also provided on the two limiting grooves 10405. The long shaft 10412 extends out of the transverse outer side of the two limiting grooves 10405. The long shaft 10412 is driven to rotate by a first motor 10413 installed on the transverse outer side of the limiting grooves 10405. An arc-shaped baffle 10414 is installed on the part of the long shaft 10412 located between the two limiting grooves 10405.

[0077] In this embodiment, the layer bar assembly 104 operates by removing or inserting the drill rod 5 from the U-shaped drill rod holder 102 in a single layer.

[0078] In this embodiment, when the cylinder rod of the second cylinder 10406 ​​is fully extended, the lateral distance between the two limiting grooves 10405 is greater than the length of the drill rod 5.

[0079] As a further preferred embodiment, such as Figure 5 As shown, the stroke of the first hydraulic cylinder 10402 is the radius R of the cross-section of the drill rod 5. A sliding track is provided between the center seat 10401 and the sliding seat 10403. Under the action of the first hydraulic cylinder 10402, the two can slide relative to each other, and the sliding distance is R.

[0080] In this embodiment, after the top layer of drill rods 5 of the U-shaped drill rod frame 102 is removed, the second layer of drill rods 5 is clamped by adjusting the extension length R of the first hydraulic cylinder 10402. After the second layer of drill rods 5 is removed, the third layer of drill rods 5 is clamped by adjusting the retraction length R of the first hydraulic cylinder 10402, and so on, to complete the clamping of each layer of drill rods 5.

[0081] In this embodiment, when an even number of drill rods 5 are taken, since the number of drill rods in adjacent layers differs by 1, the pair of outermost cones in the cone positioning assembly 10407 are in a state without drill rods.

[0082] As a further preferred embodiment, such as Figure 6 As shown, a spring mounting cylinder 10415 is also provided on the outer side of the two limiting grooves 10405 respectively. The two spring mounting cylinders 10415 are fitted on the long shaft 10412. A first spring 10416 is also fitted on the long shaft 10412 inside the spring mounting cylinder 10415. One end of the first spring 10416 abuts against the limiting groove 10405, and the other end of the first spring 10416 abuts against the spring mounting cylinder 10415.

[0083] In this embodiment, as Figure 5 As shown, the arc-shaped baffle 10414 has an arc-shaped structure and a semi-circular cross-section.

[0084] As a preferred embodiment of this invention, such as Figure 5As shown, the two limiting grooves 10405 are connected together by horizontally arranged baffles 10417 to form a frame structure, thereby enhancing the overall stability of the layer bar assembly 104.

[0085] As a preferred embodiment of this invention, such as Figure 8 As shown, the pick-and-place rod assembly 105 includes a connecting seat 10501, which has an L-shaped structure. The bottom end of the connecting seat 10501 is connected to the side wall of the leveling base 101. A vertically arranged first inner sleeve 10502 is fitted inside the connecting seat 10501. A lifting driver 10503 is provided between the first inner sleeve 10502 and the connecting seat 10501. Under the drive of the lifting driver 10503, the first inner sleeve 10502 can move up and down.

[0086] like Figure 8 As shown, the upper end of the first inner sleeve 10502 is hinged to one end of the swing outer sleeve 10505 via the second motor 10504. The other end of the swing outer sleeve 10505 is fitted with a second inner sleeve 10506. A fourth hydraulic cylinder 10507 is provided between the second inner sleeve 10506 and the swing outer sleeve 10505. The end of the second inner sleeve 10506 is connected to the clamping rod assembly 10508.

[0087] In this embodiment, the function of the pick-and-place rod assembly 105 is: when adding a drill rod, it takes out the drill rod from the stacking rod assembly 104 and transports it to a fixed position to wait for the robotic arm 2 to take it away; when unloading a drill rod, it takes the drill rod transported from the robotic arm 2 at the fixed position and puts it into the stacking rod assembly 104.

[0088] As a further preferred embodiment, such as Figure 9 and Figure 10 As shown, the clamping rod assembly 10508 includes a mounting base 1050801. The top of the mounting base 1050801 is fixedly mounted on the end of the second inner sleeve 10506. The bottom of the mounting base 1050801 is provided with two parallel second cylindrical guide rails 1050802. Two first grippers 1050803 are mounted on the second cylindrical guide rails 1050802. The two first grippers 1050803 are connected as one unit by a connecting rod 1050804. The lower part of the mounting base 1050801 is also connected to the cylinder end of the fifth hydraulic cylinder 1050805. The cylinder rod end of the fifth hydraulic cylinder 1050805 is connected to one of the first grippers 1050803.

[0089] In this embodiment, as Figure 9 As shown, under the action of the fifth hydraulic cylinder 1050805, the two first grippers 1050803 can move along the axis of the second cylindrical guide rail 1050802. This structure is used to finely adjust the position of the drill rod axis.

[0090] In this embodiment, the first gripper 1050803 adopts a gripper commonly known in the art. Preferably, the first gripper 1050803 is composed of a piston, slips, and a U-shaped seat, and achieves the function of clamping or releasing the drill rod through hydraulic control.

[0091] As a preferred embodiment of this invention, such as Figure 11 As shown, the robotic arm 2 includes a connecting plate 201, which is fixedly connected to the rear end of the drilling rig 4 body by bolts; the connecting plate 201 is connected to a translational track 203 through a rotary bearing 202, a translational outer sleeve 204 is fitted inside the translational track 203, the translational outer sleeve 204 is set perpendicular to the translational track 203, a third inner sleeve 205 with both ends extending out of the translational outer sleeve 204 is inserted into the translational outer sleeve 204, a gripper base 206 is set on the top of the third inner sleeve 205, the gripper base 206 is set perpendicular to the translational outer sleeve 204, the gripper base 206 and the translational track 203 are arranged in a spatially skewed perpendicular arrangement, and a second gripper 207 is installed on the gripper base 206.

[0092] In this embodiment, when the borehole drilled by the drilling rig has a certain inclination angle, the drill rod 5 can be adjusted from a horizontal state to an inclination state by controlling the rotation angle of the slewing bearing 202.

[0093] In this embodiment, as Figure 11 As shown, the structure of the second gripper 207 is the same as that of the first gripper 1050803. The second gripper 207 is used to hold the drill pipe 5.

[0094] In this embodiment, as Figure 11 As shown, the translational outer sleeve 204 is also provided with a drive assembly 208. The drive assembly 208 adopts a commonly used drive assembly known in the art. The drive assembly 208 can drive the third inner sleeve 205 to move up and down and drive the translational outer sleeve 204 to move on the track 203.

[0095] As a preferred embodiment of this invention, such as Figure 12 and Figure 13 As shown, the power water delivery device 3 includes a water body 301, on which a second spring 302 is fitted. One end of the second spring 302 abuts against a first limiting boss 303 on the water body 301, and the other end of the second spring 302 abuts against one end of a housing 304. The housing 304 is fitted onto the water body 301 and can move along the water body 301. The other end of the housing 304 abuts against a second limiting boss 305 on the water body 301.

[0096] like Figure 12As shown, a low groove 306 is provided on the water-filled body 301 inside the housing 304, and a toothed surface 307 is provided on one side of the bottom of the low groove 306; a third motor 308 is provided outside the housing 304, and a gear 309 is provided inside the housing 304. The third motor 308 drives the gear 309 to rotate, and the central axis of the gear 309 is parallel to the central axis of the water-filled body 301; the gear 309 is located in the low groove 306, and the axial width of the low groove 306 is greater than or equal to twice the width of the gear 309.

[0097] like Figure 13 As shown, a handle 310 is symmetrically arranged on the outside of the housing 304. The gear 309 and the tooth surface 307 are engaged and disengaged by axially moving the housing 304 through the handle 310. When the gear 309 and the tooth surface 307 are engaged, they can drive the water body 301 to rotate inside the housing 304.

[0098] In this embodiment, as Figure 12 As shown, the water body 301 has a cylindrical central through hole structure, and the front end of the water body 301 is provided with a male thread for connecting with the female thread of the drill rod 5.

[0099] In this embodiment, as Figure 12 As shown, without external force, the elastic force of the second spring 302 presses the housing 304 against it and contacts the second limiting boss 305. At this time, the gear 309 does not contact the tooth surface 307. When the handle 310 is pushed to axially compress the spring, the gear 309 meshes with the tooth surface 307. Controlling the rotation of the third motor 308 can drive the water body 301 to rotate in the forward or reverse direction, thereby tightening or loosening the female thread of the water body 301 and the drill rod 5.

[0100] In this embodiment, as Figure 12 As shown, the rear end of the water toilet body 301 is coaxially connected to the front end of the water pipe 311 via a rotary sealing structure, so that the water pipe 311 does not rotate when the water toilet body 301 rotates. The rotary sealing structure can be any commonly known rotary sealing structure in the art.

[0101] Example 2:

[0102] This embodiment provides a method for adding and removing drill rods at the rear of a drilling rig. This method uses the drill rod addition and removal system at the rear of the drilling rig with a large capacity drill rod storage function given in Embodiment 1.

[0103] The method for adding and removing drill rods at the rear of the drilling rig includes the following steps:

[0104] First, the process of adding drill pipe is as follows:

[0105] Step A1: Adjust the layer bar assembly 104 to a horizontal state by adjusting the angle adjustment component 10305 in the lifting assembly 103; continue to adjust the moving component 10304 so that the plane formed by the axis of the conical body of the conical positioning component 10407 in the layer bar assembly 104 coincides with the plane formed by the axis of the uppermost drill rod 5 in the drill rod chamber 1; during the retraction of the cylinder rod of the third cylinder 10408, the conical positioning component 10407 moves towards the center of the layer bar assembly 104; when the cylinder rod of the third cylinder 10408 is fully retracted, the conical bodies in the conical positioning components 10407 at both ends of the layer bar assembly 104 are inserted into the central through holes of the male and female thread ends of the drill rod 5.

[0106] In step A2, the driving lifting assembly 103 moves upward to its uppermost position. At this time, the first layer of drill rod 5 is lifted away from the U-shaped drill rod frame 102, the cylinder rod of the second hydraulic cylinder 10406 ​​retracts, and the cylinder rod of the third hydraulic cylinder 10408 extends until the front and rear ends of the drill rod 5 are engaged in the grooves of the limiting groove 10405, and the conical body in the conical positioning assembly 10407 disengages from the central through hole of the drill rod 5. At this time, the first spring 10416, which is fitted on the long shaft 10412 at both ends of the arc-shaped baffle 10414, is compressed.

[0107] Step A3: Drive the angle adjustment component 10305 in the lifting assembly 103 to rotate a certain angle, so that the stacking bar assembly 104 is as follows. Figure 1 As shown in the figure; the drill rod 5 slides and rolls along the limiting groove 10405 to the bottom of the stack rod assembly 104 under the action of gravity, and the arc-shaped baffle 10414 blocks the drill rod 5 that has rolled down.

[0108] Step A4, control the pick-and-place lever assembly 105 to... Figure 1 In the indicated state, further, the cylinder rod of the fourth hydraulic cylinder 10507 is extended until the clamping rod assembly 10508 moves to the lowest position of the limiting groove 10405. When the drill rod 5 slides out of the limiting groove 10405, it will enter the first gripper 1050803 in the clamping rod assembly 10508. The first motor 10413 is driven to drive the arc-shaped baffle 10414 to rotate slowly. A single drill rod 5 slides out from the lower end of the limiting groove 10405 and enters the first gripper 1050803. The first gripper 1050803 is controlled to clamp the drill rod 5. The remaining drill rods 5 continue to stay in the groove of the limiting groove 10405 under the obstruction of the arc-shaped baffle 10414.

[0109] Step A5: The fourth cylinder 10507 in the control lever assembly 105 is fully retracted, and the second motor 10502 is controlled to bring the swing outer sleeve 10505 into a vertical position. Figure 14 As shown.

[0110] Step A6: Control the translational outer sleeve 204 in the robotic arm 2 to move so that the second gripper 207 is directly below the drill rod 5. Control the drive assembly 208 to move the third inner sleeve 205 upward until the drill rod 5 is inserted into the second gripper 207. Control the second gripper 207 to close and clamp the drill rod 5. Control the first gripper 1050803 in the pick-and-place rod assembly 105 to release the drill rod 5. Control the drive assembly 208 to continue moving the third inner sleeve 205 upward until the drill rod 5 disengages from the first gripper 1050803 in the pick-and-place rod assembly 105.

[0111] Step A7, control the pick-and-place lever assembly 105 to return it to its original position. Figure 1 As shown in the figure; control the second gripper 207 in the robotic arm 2 to move together with the drill rod 5 to the rear of the power head of the drilling machine 4, so that the drill rod 5 in the second gripper 207 is concentric with the drill rod in the power head.

[0112] Step A8: Manually press the male connector in the power water supply device 3 against the female connector of the drill rod 5 in the second gripper 207, control the second gripper 207 to release the drill rod 5, and continue to push the power water supply device 3 to push the male connector of the drill rod 5 in the second gripper 207 into the female connector of the drill rod in the power head of the drilling machine 4, drive the third motor 308 in the power water supply device 3 to rotate, and tighten the threads at both ends of the drill rod 5 in the second gripper 207.

[0113] Step A9, control the second gripper 207 in robotic arm 2 to return to the starting position. Figure 14 At the indicated position; operate the drilling rig 4 to begin normal drilling; after drilling is completed, control the third motor 308 in the power water supply device 3 to reverse, and disconnect the threads of the power water supply device 3 from the drill rod 5.

[0114] Step A10: Repeat steps A4 to A9 until all drill rods 5 in the layer rod assembly 104 have been added.

[0115] Step A11: Adjust the moving component 10304 in the lifting component 103 to move the layer bar assembly 104 downward to the position of the second layer drill 5. At this time, the plane formed by the axis of the cone in the cone positioning component 10407 in the layer bar assembly 104 coincides with the plane formed by the axis of the second layer drill rod 5 in the drill rod chamber 1; adjust the first oil cylinder 10402 to extend by a distance R.

[0116] Step A12: Repeat steps A1 to A11 to complete the drill pipe addition operation.

[0117] Second, the process for unloading the drill pipe is as follows:

[0118] Step B1, adjust the layer bar assembly 104 to... Figure 15 The elevation angle shown is as follows: the cylinder rod of the second cylinder 10406 ​​is fully retracted, and the cylinder rod of the third cylinder 10408 is fully extended.

[0119] In step B2, the power head of the drilling rig 4 disconnects the drill rod 5 from the threaded connection at the front end, and controls the second gripper 207 in the robotic arm 2 to move to the rear of the power head of the drilling rig 4. The drilling rig 4 moves the drill rod 5 in the power head into the second gripper 207 and clamps the drill rod 5. The manual operation of the power water supply device 3 reverses the direction to disconnect the threaded connection with the drill rod 5.

[0120] Step B3: Control the pick-and-place lever assembly 105 to make the clamping lever assembly 10508 horizontal and move it to the lowest point.

[0121] Step B4: The robotic arm 2 clamps the drill rod 5 and moves it directly above the clamping rod assembly 10508; the clamping rod assembly 10508 moves upward and clamps the drill rod 5, then continues to move upward until the clamping rod assembly 10508 is as described above. Figure 15 As shown.

[0122] Step B5: Control the cylinder rod of the fourth cylinder 10508 to extend until the clamping rod assembly 10508 sends the drill rod 5 into the limiting groove 10405. Control the first gripper 1050803 to release the drill rod 5, and the drill rod 5 will naturally roll down to contact the arc-shaped baffle 10414. Drive the first motor 10413 to drive the arc-shaped baffle 10414 to rotate slowly, and the drill rod 5 will slide and roll to the lower end of the limiting groove 10405 to contact the inner arc surface 10411 of the limiting block 10410.

[0123] Step B6: Repeat steps B2 and B5 to fill the layer rod assembly 104; control the number of drill rods loaded according to the difference of 1 between the number of drill rods in adjacent layers; after the drill rods are filled, the cylinder rod of the third cylinder 10408 is fully retracted, and the conical positioning assembly 10407 limits the drill rod 5 in the limiting groove 10405.

[0124] Step B7: Adjust the layer bar assembly 104 to a horizontal position, control the lifting assembly 103 to move the layer bar assembly 104 downward to the layer where the drill rod is to be placed, the cylinder rod of the third cylinder 10408 is fully extended, the cylinder rod of the second cylinder 10406 ​​is fully extended, and the drill rod 5 is placed on the drill rod chamber 1.

[0125] Step B8: Repeat steps B1 to B7 to remove the drill pipe.

[0126] When switching between the drill rod addition and removal functions is required, the positive and negative angles of the layer bar assembly 104 can be adjusted.

Claims

1. A drill rod loading and unloading system at the rear of a drilling rig with a large-capacity drill rod storage function, characterized in that, The system includes a drill pipe chamber (1), which includes a leveling base (101). A U-shaped drill pipe rack (102) is installed on the leveling base (101). The U-shaped drill pipe rack (102) is a frame structure with an opening at the top. Drill pipes (5) are stacked inside the U-shaped drill pipe rack (102). A lifting assembly (103) is also vertically installed on the leveling base (101). The lifting assembly (103) includes a left rail (10301) and a right rail (10302). The bottom ends of the left rail (10301) and the right rail (10302) are vertically fixed on the leveling base (101). An upper crossbeam (10303) is installed on the left rail (10301) and the right rail (10302). A moving assembly (10304) is installed between the upper crossbeam (10303) and the right rail (10302). An angle adjustment component (10305) is provided between (10303) and the left track (10301); driven by the moving component (10304), the moving component (10304) moves up and down along the right track (10302), and the angle adjustment component (10305) moves up and down along the left track (10301). When the upper crossbeam (10303) moves to the upper limit position, the angle adjustment component (10305) can drive the upper crossbeam (10303) to rotate. A layer bar assembly (104) is installed on the upper crossbeam (10303); The leveling base (101) is also equipped with a pick-and-place rod assembly (105).

2. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 1, characterized in that, The layer bar assembly (104) includes a center seat (10401), the top of which is fixedly connected to the center of the upper crossbeam (10303); the bottom of the center seat (10401) is connected to the top of the sliding seat (10403) through a pair of longitudinally arranged first hydraulic cylinders (10402). The sliding seat (10403) is fixedly mounted on a pair of first cylindrical guide rails (10404). The pair of first cylindrical guide rails (10404) are arranged laterally. Each end of the pair of first cylindrical guide rails (10404) is fitted with a limiting groove (10405). The two limiting grooves (10405) are arranged longitudinally. The two limiting grooves (10405) and the sliding seat (10403) are connected by second hydraulic cylinders (10406) arranged laterally, so that the two limiting grooves (10405) can move laterally on the pair of first cylindrical guide rails (10404). Both limiting grooves (10405) are side-mounted U-shaped structures. The opening of the U-shaped structure is opened to the inner side of the lateral direction, and the bottom of the U-shaped structure is arranged to the outer side of the lateral direction. Multiple positioning holes (10418) are opened at the bottom of the U-shaped structure. Conical positioning components (10407) are respectively arranged on the outer side of the two limiting grooves (10405). The conical body of the conical positioning component (10407) is matched with the positioning hole (10418) one by one. The conical positioning component (10407) and the limiting groove (10405) are connected by a third hydraulic cylinder (10408) and a slide rail and slide sleeve assembly (10409) arranged laterally. A limiting block (10410) is embedded in the opening of the U-shaped structure of the two limiting grooves (10405). The limiting block (10410) is provided with an inner arc surface (10411). The central axis of the inner arc surface (10411) is arranged laterally. The central axis of the inner arc surface (10411), the central axis of the positioning hole (10418) at the longitudinal end of the limiting groove (10405), and the central axis of the cone at the longitudinal end of the cone positioning assembly (10407) coincide. The two limiting grooves (10405) are also provided with a transversely arranged long shaft (10412). The long shaft (10412) extends out of the transverse outer side of the two limiting grooves (10405). The long shaft (10412) is driven to rotate by a first motor (10413) installed on the transverse outer side of the limiting groove (10405). An arc-shaped baffle (10414) is installed on the part of the long shaft (10412) located between the two limiting grooves (10405).

3. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 2, characterized in that, The stroke of the first hydraulic cylinder (10402) is the radius R of the cross-section of the drill rod (5).

4. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 2, characterized in that, A spring mounting sleeve (10415) is also provided on the outer side of the two limiting grooves (10405). The two spring mounting sleeves (10415) are fitted on the long shaft (10412). A first spring (10416) is also fitted on the long shaft (10412) inside the spring mounting sleeve (10415). One end of the first spring (10416) abuts against the limiting groove (10405), and the other end of the first spring (10416) abuts against the spring mounting sleeve (10415).

5. The drill rod loading and unloading system at the rear of the drilling rig with a large-capacity drill rod storage function as described in claim 2, characterized in that, The two limiting grooves (10405) are connected together by horizontally arranged baffles (10417) to form a frame structure.

6. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 1, characterized in that, The pick-and-place rod assembly (105) includes a connecting seat (10501), which is an L-shaped structure. The bottom end of the connecting seat (10501) is connected to the side wall of the leveling base (101). A vertically arranged first inner sleeve (10502) is fitted inside the connecting seat (10501). A lifting driver (10503) is provided between the first inner sleeve (10502) and the connecting seat (10501). Under the drive of the lifting driver (10503), the first inner sleeve (10502) can move up and down. The upper end of the first inner sleeve (10502) is hinged to one end of the swing outer sleeve (10505) via the second motor (10504). The other end of the swing outer sleeve (10505) is fitted with a second inner sleeve (10506). A fourth oil cylinder (10507) is provided between the second inner sleeve (10506) and the swing outer sleeve (10505). The end of the second inner sleeve (10506) is connected to the clamping rod assembly (10508).

7. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 6, characterized in that, The clamping rod assembly (10508) includes a mounting base (1050801), the top of which is fixedly mounted on the end of the second inner sleeve (10506). The bottom of the mounting base (1050801) is provided with two parallel second cylindrical guide rails (1050802). Two first grippers (1050803) are mounted on the second cylindrical guide rails (1050802). The two first grippers (1050803) are connected as one unit by a connecting rod (1050804). The lower part of the mounting base (1050801) is also connected to the cylinder end of the fifth hydraulic cylinder (1050805). The cylinder rod end of the fifth hydraulic cylinder (1050805) is connected to one of the first grippers (1050803).

8. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 1, characterized in that, It also includes a robotic arm (2), which includes a connecting plate (201) and is fixedly connected to the rear end of the drilling rig (4). The connecting plate (201) is connected to a translational track (203) via a rotary bearing (202). A translational outer sleeve (204) is installed inside the translational track (203). The translational outer sleeve (204) is set perpendicular to the translational track (203). A third inner sleeve (205) with both ends extending out of the translational outer sleeve (204) is inserted into the translational outer sleeve (204). A gripper base (206) is set on the top of the third inner sleeve (205). The gripper base (206) is set perpendicular to the translational outer sleeve (204). The gripper base (206) and the translational track (203) are arranged in a spatially skewed perpendicular arrangement. A second gripper (207) is installed on the gripper base (206).

9. The drill rod loading and unloading system at the rear of the drilling rig with large-capacity drill rod storage function as described in claim 1, characterized in that, It also includes a power water delivery device (3), which includes a water toilet body (301), a second spring (302) is fitted on the water toilet body (301), one end of the second spring (302) abuts against the first limiting boss (303) on the water toilet body (301), the other end of the second spring (302) abuts against one end of the housing (304), the housing (304) is fitted onto the water toilet body (301) and can move along the water toilet body (301), the other end of the housing (304) abuts against the second limiting boss (305) on the water toilet body (301); The water-filled body (301) inside the housing (304) is provided with a low groove (306), and a toothed surface (307) is provided on one side of the bottom of the low groove (306); a third motor (308) is provided outside the housing (304), and a gear (309) is provided inside the housing (304). The third motor (308) drives the gear (309) to rotate, and the central axis of the gear (309) is parallel to the central axis of the water-filled body (301); the gear (309) is located in the low groove (306), and the axial width of the low groove (306) is greater than or equal to twice the width of the gear (309); The outer side of the housing (304) is symmetrically provided with handles (310). By moving the housing (304) axially through the handles (310), the gear (309) and the tooth surface (307) can be engaged and disengaged. When the gear (309) and the tooth surface (307) are engaged, they can drive the water body (301) to rotate inside the housing (304).

10. A method for adding and removing drill rods at the rear of a drilling rig, wherein the method employs a drilling rig rear-mounted drill rod adding and removing system with a large-capacity drill rod storage function as described in any one of claims 1 to 9.

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