A circulating automated drill pipe transport vehicle and its transport method

Abstract

This invention discloses a circulating automated drill pipe transport vehicle and its transport method, including a vehicle platform, drill pipe boxes, a drill pipe box transfer device, and a traveling device. The vehicle platform is equipped with an upper moving track for the drill pipe boxes and a moving track for the transfer device. A lower moving track for the drill pipe boxes is located on the base plate below the vehicle platform. The drilling rig and multiple vehicle platforms can be connected sequentially to form two channels, creating a circulating flow for the drill pipe boxes. Each drill pipe box can move along the connecting upper moving track to the drill rig's pipe-taking position for drilling operations. The drill pipe box transfer device sequentially lowers empty drill pipe boxes after drilling onto the base plate, allowing them to move backward along the connecting lower moving track, and then lifts the empty drill pipe boxes onto an empty vehicle platform. This invention can connect the corresponding number of drill pipe transport vehicles according to the construction length, automatically and cyclically changing the drill pipe boxes. It reduces worker labor intensity, minimizes safety risks, and increases the efficiency of loading and unloading drill pipes, thus improving the automation level of drilling equipment.

Description

Technical Field

[0001] This invention belongs to the field of drilling technology and equipment, and relates to a circulating automated drill pipe transport vehicle and a transport method. Background Technology

[0002] Long-distance drilling in coal mines is a fundamental measure and means to prevent mine accidents such as coal mine gas disasters, mine water disasters, and abnormal geological disasters in roadways. During drilling, a drilling rig is used to drive drill rods into the coal seam or rock strata, and then the drill rods are retrieved. With the construction of intelligent mines, automated and intelligent tunnel drilling rigs are becoming increasingly popular. Automated drilling rigs are equipped with drill rod loading / unloading robots and drill rod boxes, capable of drilling approximately 100 drill rods at a time, significantly reducing labor intensity and improving drilling safety. However, due to the limitations of roadway space, the overall layout of the drilling rig is compact, and the drill rod box capacity is limited, making it impossible to meet the demand for long-distance drilling in one go. The replacement of drill rod boxes severely restricts further improvement in drilling efficiency. Furthermore, replacing drill rod boxes requires manual labor, which is labor-intensive and difficult. In the event of an emergency, operators often have difficulty escaping, posing a significant safety hazard to construction workers. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a circulating automated drill pipe transport vehicle and transport method. This addresses the problems of existing automated drilling rigs being limited by roadway space, having limited drill pipe box capacity, being unable to meet the needs of long-distance drilling in a single operation, having low drilling efficiency due to drill pipe box replacement, and the high labor intensity, difficulty, and significant safety hazards associated with manual drill pipe box replacement. The present invention, when performing long-distance drilling, can connect the appropriate number of drill pipe transport vehicles according to the specific length of the drilling operation. After connection, the drill pipe boxes are automatically and cyclically replaced. This reduces worker labor intensity, minimizes safety risks, and increases the efficiency of loading and unloading drill pipes, meeting the needs of automated drilling rigs for long-distance drilling. It also shortens auxiliary time, increases drilling efficiency, and further improves the automation level of drilling equipment.

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

[0005] A circulating automated drill pipe transport vehicle includes a vehicle platform, a drill pipe box, a drill pipe box transfer device, and a traveling device;

[0006] The vehicle platform includes a platform body, movable plates, and a base plate. The surface of the platform body is provided with parallel drill rod box moving rail I and transfer device moving rail. Two movable plates that can be opened are installed in the hollow part of the middle of the platform body. Drill rod box moving rail II is provided on the two movable plates. After the two movable plates are rotated to a horizontal fixed position, they can fill the hollow part of the middle of the platform body, and the drill rod box moving rail II and the drill rod box moving rail I are connected to form the drill rod box moving rail. After the two movable plates are rotated to open, the drill rod box can be lowered from the hollow part of the middle of the platform body. The base plate is located below the platform body and the two are connected by a lifting device I. A drill rod box lower moving rail is provided on the base plate and is located directly below the drill rod box upper moving rail.

[0007] The drill pipe box transfer device is located on the platform body and includes a gantry frame, a lifting device II at the top of the gantry frame, and a horizontal moving component II at the bottom of the gantry frame; the gantry frame moves along the transfer device track via the horizontal moving component II.

[0008] The drill rod box includes a drill rod box body, a horizontal moving component I located at the bottom of the drill rod box body, and a lifting ring located at the top of the drill rod box body. When the drill rod box is located on the platform body, it can be moved along the upper moving track of the drill rod box by the horizontal moving component I to the drill rod removal position for drilling. After drilling is completed, the lifting device II of the drill rod box transfer device lowers the empty drill rod box onto the base plate by connecting the drill rod box lifting ring with a hook. The drill rod box can then be moved backward along the lower moving track of the drill rod box by the horizontal moving component I.

[0009] The walking device is located at the bottom of the vehicle platform and is used to drive the vehicle platform to move.

[0010] The present invention also includes the following technical features:

[0011] Specifically, the drilling rig and multiple vehicle platforms can be connected in sequence to connect the moving tracks of the drill rod boxes on the multiple vehicle platforms, the moving tracks of the transfer device, and the moving tracks of the drill rod boxes on the same plane, thereby forming two channels, one above the other, so that the movement of the drill rod boxes forms a loop channel. Multiple drill rod boxes can move sequentially along the connected moving tracks on the drill rod boxes to the drill rig's rod-taking position for drilling. The drill rod box transfer device can sequentially lower the empty drill rod boxes after construction to the base plate so that they move backward along the connected moving tracks on the drill rod boxes. Then, the empty drill rod boxes are lifted onto the empty vehicle platform by the rod box transfer device, realizing a cyclical automated drill rod transportation.

[0012] Specifically, the movable plate is connected to the platform body via a telescopic mechanism. The telescopic mechanism includes a pneumatic / hydraulic cylinder and two hinge supports, which are located on the movable plate and the platform body respectively, thereby controlling the opening and closing of the movable plate. The operating angle of the movable plate is ≥90°.

[0013] Specifically, there are four lifting devices I, which are powered by hydraulic motors. The lifting devices I are connected to the four corners of the base plate by steel wire ropes. When the vehicle platform moves, the base plate retracts under the action of the lifting devices I, increasing the distance between the vehicle platform and the ground. When transferring the drill rod box, the lifting devices I lower the base plate to ensure good passability of the drill rod box.

[0014] Specifically, the drill pipe box has two moving tracks located between the two transfer device moving tracks; the drill pipe box also has two moving tracks.

[0015] The lengths of the platform body, the base plate, the transfer device track, the upper track of the drill pipe box, and the lower track of the drill pipe box are all equal.

[0016] Specifically, there are four sets of horizontal motion components I, symmetrically arranged at the four corners of the bottom of the drill pipe box body. Each horizontal motion component I includes a connecting plate I and a hydraulic motor I fixed on the drill pipe box body, and rollers I located between the connecting plate I and the hydraulic motor. The distance between the two left and right rollers I is equal to the distance between the two upper moving tracks of the drill pipe box and the distance between the two lower moving tracks of the drill pipe box. The hydraulic motor I provides power to the rollers I, enabling them to move on the upper or lower moving tracks of the drill pipe box. There are four n-shaped lifting rings, welded to the four corners of the top of the drill pipe box body.

[0017] Specifically, the gantry frame includes a frame body, crossbars, and hydraulic cylinders. The frame body comprises eight steel sections, four of which are welded to form a square frame, and the other four sections are vertically welded to the four corners of the frame as four support legs. The crossbars are movably positioned between two steel sections of the frame. The cylinder barrel of the hydraulic cylinder is hinged to the square frame, and the cylinder rod is fixed to the crossbars. The crossbars can move on the frame under the push of the hydraulic cylinders, and the direction of movement of the crossbars is parallel to the transfer direction of the drill pipe box. The lifting device II and its hooks are fixed on the crossbars, and the crossbars drive the lifting device II to move to meet the size requirements of different drill pipe boxes.

[0018] There are two crossbars, each equipped with two hydraulic cylinders, and the four hydraulic cylinders are arranged symmetrically. The number of lifting devices II is four, powered by hydraulic motors, and connected to the four lifting rings of the drill rod box via wire ropes and hooks.

[0019] Specifically, there are four sets of horizontal moving components II, arranged at the bottom of the four legs of the gantry frame; the horizontal moving components II include connecting plates II welded to the bottom of the gantry frame legs, and rollers II and hydraulic motors II connected in sequence to the connecting plates II; the distance between the left and right rollers II is equal to the distance between the two transfer device moving tracks; the hydraulic motors II provide power to the rollers II so that they can drive the gantry frame to move on the transfer device moving tracks.

[0020] Specifically, the vehicle platform has a push block at the front end and a fixing component at the rear end; the push block at the front end of the vehicle platform can be connected to the fixing component of the drilling rig or vehicle platform in front of it; the fixing component includes a base, a stop block, a pin, and an elastic element; the base is fixed to the end of the platform body, the pin is located on the base and can pass vertically through the base, the stop block is located under the base and is connected to the base through the elastic element, and the stop block can slide back and forth in the base; the push block of the rear vehicle platform is pushed into the fixing component of the front vehicle platform, the stop block slides backward, and after reaching the predetermined position, the pin can be inserted into the hole of the push block for fixing.

[0021] The automatic cyclic transport method of the aforementioned automated drill pipe transport vehicle includes the following steps:

[0022] s1. Configuration: Select the number of drill pipe transport vehicles according to the depth of long-distance drilling. One transport vehicle needs to be equipped with a vehicle platform, drill pipe box, drill pipe box transfer device and walking device. The remaining transport vehicles only need to be equipped with a vehicle platform, drill pipe box and walking device.

[0023] s2. Connection: After the drilling rig reaches the working location and the azimuth and inclination angles are adjusted, it is firmly supported. At this time, the drilling rig is fixedly connected to the first transport vehicle through the fasteners installed on the drilling rig and the push block on the transport vehicle. Then, the transport vehicles are connected through the fasteners on the transport vehicle and the push block. At this time, the reserved track on the drilling rig is fully connected to the moving track on the corresponding drill rod box and the moving track of the transfer device on the transport vehicle.

[0024] s3. Lower base plate: After the connection and fixing between the drilling rig and the transport vehicle are completed, the base plates of each transport vehicle are lowered to the same height by the lifting device I, and the moving rails under the drill rod box on the base plate are all connected.

[0025] s4. Forward movement: The drill rod box on the first transport vehicle moves to the position where the drilling robot picks up the rod under the action of the horizontal moving component I. The drilling machine then performs drilling operations until the last drill rod in the drill rod box is completed.

[0026] s5. Reverse movement: The empty drill rod box in s4 moves backward to its initial position on the first transport vehicle;

[0027] s6. Positioning: The drill pipe box transfer device moves along the transfer device track under the action of its horizontal moving component II and reaches above the empty drill pipe box;

[0028] s7. Initial adjustment: Align the hook of the gantry frame with the lifting ring of the empty drill rod box;

[0029] s8. Lowering: Under the action of lifting device II, the hook is lowered and hooks onto the lifting ring of the drill pipe box;

[0030] s9. Pull up: The hook engages with the lifting ring of the drill pipe box and moves upward, stopping when it is above the upper moving track of the drill pipe box, thus disengaging the horizontal moving component I from the upper moving track of the drill pipe box;

[0031] s10. Opening: The two movable plates open downwards, and the rotation angle of the movable plates is ≥90°;

[0032] s11. Secondary lowering: The drill pipe box moves downward under the action of the lifting device II until the horizontal moving component I contacts the lower moving track of the drill pipe box;

[0033] s12. Unhooking: The hook disengages from the lifting ring and rises to the initial position under the action of lifting device II;

[0034] s13. Connecting plate: The two movable plates are closed, and the moving track II on the drill pipe box is connected to the moving track I on the drill pipe box;

[0035] s14. Movement: The drill pipe box on the second transport vehicle moves to the designated position on the drilling rig via the moving track on the drill pipe box. The drill pipe box on the third transport vehicle moves to the second transport vehicle via the moving track on the drill pipe box, and so on, until the drill pipe box on the nth transport vehicle moves to the (n-1)th transport vehicle. At the same time, the drill pipe box transfer device and drill pipe box of the first transport vehicle move to the middle position of the nth transport vehicle.

[0036] s15. Secondary opening: The two movable plates on the nth transport vehicle open downwards, and the rotation angle of the movable plates is ≥90°;

[0037] s16. Secondary positioning: The drill pipe box transfer device moves along the transfer device track under the action of its horizontal moving component II and is adjusted to be above the empty drill pipe box;

[0038] s17. Secondary initial adjustment: Align the gantry hook with the lifting ring of the drill pipe box;

[0039] s18. Secondary lowering: Under the action of lifting device II, the hook is lowered and hooks onto the lifting ring of the drill pipe box;

[0040] s19. Secondary upward pull: The hook engages with the lifting ring of the drill pipe box and moves upward, above the moving track of the drill pipe box on the vehicle platform;

[0041] s20. Secondary plate: The two movable plates are closed, and the moving track II on the drill pipe box is connected to the moving track I on the drill pipe box;

[0042] s21. Seating: The hook engages with the lifting ring of the drill pipe box and moves downward, and the horizontal moving component I contacts the moving track II on the drill pipe box;

[0043] s22. Secondary disengagement: The hook disengages from the lifting ring of the drill pipe box and moves upward to the initial position;

[0044] s23. Replace drill rod box: The drilling rig performs drilling operations until the last drill rod in the drill rod box is completed. Then, repeat s5 to s22 to replace the drill rod boxes. After the drilling operation is completed, the empty drill rod boxes are placed in the second to the nth transport vehicles in sequence.

[0045] Compared with the prior art, the present invention has the following technical effects:

[0046] The circulating automated drill pipe transport vehicle of this invention adopts a wheeled structure, is narrow in width and small in size, and can move flexibly and quickly downhole.

[0047] The present invention is a circulating automated drill pipe transport vehicle with upper and lower tracks, providing a circulating channel for the movement of drill pipe boxes, which greatly improves the loading and unloading efficiency of drill pipes.

[0048] The present invention relates to a circulating automated drill pipe transport vehicle and transport method, which can significantly reduce the labor intensity of workers and the incidence of downhole accidents, and further improve the automation and intelligence level of drilling equipment. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of a circulating automated drill pipe transport vehicle.

[0050] Figure 2 This is a schematic diagram of the vehicle body platform structure.

[0051] Figure 3 This is a side view of the vehicle platform.

[0052] Figure 4 This is a schematic diagram of the fastener structure.

[0053] Figure 5 This is a schematic diagram of the drill pipe box structure.

[0054] Figure 6 This is a schematic diagram of the drill pipe loading device.

[0055] The meanings of the labels in the diagram are as follows:

[0056] 1. Vehicle platform; 2. Drill pipe box; 3. Drill pipe box transfer device; 4. Traveling device; 5. Platform body; 6. Movable plate; 7. Telescopic mechanism; 8. Base plate; 9. Transfer device moving track; 10. Drill pipe box lower moving track; 11. Drill pipe box upper moving track I; 12. Drill pipe box upper moving track II; 14. Lifting device I; 15. Push block; 16. Fixing component; 17. Base; 18. Stop block; 19. Pin; 20. Elastic component; 21. Horizontal moving assembly I; 22. Connecting plate I; 23. Roller I; 24. Hydraulic motor I; 25. Lifting ring; 26. Horizontal moving assembly II; 27. Gantry frame; 28. Connecting plate II; 29. ​​Roller II; 30. Hydraulic motor II; 31. Frame; 32. Hydraulic cylinder; 33. Crossbar; 34. Lifting device II; 35. Hook. Detailed Implementation

[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] like Figures 1 to 6 As shown, this embodiment provides a circulating automated drill pipe transport vehicle, including a vehicle platform 1, a drill pipe box 2, a drill pipe box transfer device 3, and a traveling device 4.

[0060] The vehicle platform 1 includes a platform body 5, movable plates 6, and a base plate 8. The surface of the platform body 5 is provided with parallel drill rod box moving rails I11 and transfer device moving rails 9. Two movable plates 6 that can be opened are installed in the hollow part of the middle of the platform body 5. Drill rod box moving rails II12 are provided on the two movable plates 6. After the two movable plates 6 are rotated to be fixed horizontally, they can fill the hollow part of the middle of the platform body 5, and the drill rod box moving rails II12 and I11 are connected to form the drill rod box moving rails. After the two movable plates 6 are rotated to be opened, the drill rod box 2 can be lowered from the hollow part of the middle of the platform body 5. The base plate 8 is located below the platform body 5 and the two are connected by a lifting device I14. A drill rod box lower moving rail 10 is provided on the base plate 8 and is located directly below the drill rod box upper moving rails.

[0061] The drill pipe box transfer device 3 is used for lifting and lowering the drill pipe box. It is located on the platform body 5 and includes a gantry frame 27, a lifting device II34 at the top of the gantry frame 27, and a horizontal moving component II26 at the bottom of the gantry frame 27. The gantry frame 27 moves along the transfer device moving track 9 via the horizontal moving component II26.

[0062] The drill rod box 2 is used to store drill rods, including the drill rod box 2 body, the horizontal moving component I21 located at the bottom of the drill rod box 2 body, and the lifting ring 25 located at the top of the drill rod box 2 body. When the drill rod box 2 is located on the platform body 5, it can be moved to the drill rig rod removal position via the horizontal moving component I21 along the upper moving track of the drill rod box for drilling construction. After the drill rod in the drill rod box 2 is drilled, the lifting device II34 of the drill rod box transfer device 3 connects to the lifting ring 25 of the drill rod box 2 via the hook 35 to lower the empty drill rod box 2 onto the base plate 8. The drill rod box 2 can be moved backward along the lower moving track 10 of the drill rod box via the horizontal moving component I21.

[0063] The walking device 4 is located at the bottom of the vehicle platform 1 and is used to drive the vehicle platform 1 to move.

[0064] The drilling rig and multiple vehicle platforms 1 can be connected in sequence so that the moving tracks on the drill rod boxes of the multiple vehicle platforms 1 are connected, the moving tracks 9 of the transfer device are connected, and the moving tracks 10 of the drill rod boxes on the same plane are connected, thus forming two channels, one above the other, so that the movement of the drill rod boxes 2 forms a loop channel; the multiple drill rod boxes 2 can move sequentially along the connected moving tracks on the drill rod boxes to the drill rig's rod-taking position for drilling construction; the drill rod box transfer device 3 can sequentially lower the empty drill rod boxes 2 after construction to the base plate 8 so that they move backward along the connected moving tracks 10 of the drill rod boxes, and then the empty drill rod boxes 2 are lifted onto the empty vehicle platform 1 by the rod box transfer device, realizing the cyclical automated drill rod transportation.

[0065] The movable plate 6 is connected to the platform body 5 by a telescopic mechanism 7. The telescopic mechanism 7 includes a pneumatic / hydraulic cylinder and two hinge supports, which are located on the movable plate 6 and the platform body 5 respectively, thereby controlling the opening and closing of the movable plate 6. The operating angle of the movable plate 6 is ≥90°.

[0066] There are four lifting devices I14, which are powered by hydraulic motors. The lifting devices I14 are connected to the four corners of the base plate 8 by steel wire ropes. When the vehicle platform 1 moves, the base plate 8 retracts under the action of the lifting devices I14, increasing the distance between the vehicle platform 1 and the ground. When transferring the drill rod box 2, the lifting devices I14 lower the base plate 8 to ensure good passability of the drill rod box 2.

[0067] There are two moving tracks on the drill pipe box, located between the two moving tracks 9 of the transfer device; there are also two moving tracks 10 on the lower part of the drill pipe box.

[0068] The lengths of the platform body 5, the base plate 8, the transfer device moving track 9, and the drill pipe box moving track are all equal.

[0069] The drill pipe box 2 has 10 intervals and can accommodate 100 drill pipes with a length of 1m and a diameter of 73mm. There are 4 sets of horizontal motion components I, which are symmetrically arranged at the four corners of the bottom of the drill pipe box 2 body. The horizontal motion component I includes a connecting plate I22 and a hydraulic motor I24 fixed on the drill pipe box 2 body, and rollers I23 located between the connecting plate I22 and the hydraulic motor. The distance between the two left and right rollers I23 is equal to the distance between the two upper moving tracks of the drill pipe box and the distance between the two lower moving tracks 10 of the drill pipe box. The hydraulic motor I24 provides power to the rollers I23 to move them on the upper moving track or the lower moving track 10 of the drill pipe box. There are 4 n-shaped lifting rings 25, which are welded to the four corners of the top of the drill pipe box 2 body.

[0070] The gantry 27 includes a frame 31, a crossbar 33, and a hydraulic cylinder 32. The frame 31 includes eight steel sections, four of which are welded to form a square frame, and the other four are welded vertically to the four corners of the frame as four legs. The crossbar 33 is movably positioned between two steel sections of the frame. The cylinder of the hydraulic cylinder 32 is hinged to the square frame, and the cylinder rod is fixed to the crossbar 33. The crossbar 33 can move on the frame under the push of the hydraulic cylinder 32. The direction of movement of the crossbar 33 is parallel to the transfer direction of the drill pipe box 2. The lifting device II 34 and the hook 35 connected below it are fixed on the crossbar 33. The crossbar 33 drives the lifting device II 34 to move to meet the size requirements of different drill pipe boxes 2.

[0071] There are two crossbars 33, and two hydraulic cylinders 32 are installed on each crossbar 33. The four hydraulic cylinders 32 are arranged symmetrically. There are four lifting devices II 34, which are powered by hydraulic motors and connected to the four lifting rings 25 of the drill pipe box 2 through wire ropes and hooks 35.

[0072] There are four sets of horizontal moving components II26, which are arranged at the bottom of the four legs of the gantry 27. The horizontal moving components II26 include connecting plates II28 welded to the bottom of the legs of the gantry 27, rollers II29 and hydraulic motors II30 connected in sequence to the connecting plates II28. The distance between the two left and right rollers II29 is equal to the distance between the two transfer device moving tracks 9. The hydraulic motors II30 provide power to the rollers II29 so that they can drive the gantry 27 to move on the transfer device moving tracks 9.

[0073] The vehicle platform 1 has a push block 15 at the front end and a fixing member 16 at the rear end. The push block 15 at the front end of the vehicle platform 1 can be connected to the drilling rig in front of it or the fixing member 16 of the vehicle platform 1. The fixing member 16 includes a base 17, a stop block 18, a pin 19, and an elastic member 20. The base 17 is fixed to the end of the platform body 5. The pin 19 is located on the base 17 and can pass vertically through the base 17. The stop block 18 is located under the base 17 and is connected to the base 17 through the elastic member 20. The stop block 18 can slide back and forth in the base 17. The push block 15 of the rear vehicle platform 1 is pushed into the fixing member 16 of the front vehicle platform 1. The stop block 18 slides backward. After reaching the predetermined position, the pin 19 can be inserted into the hole of the push block 15 for fixing.

[0074] Example 2:

[0075] This embodiment provides an automatic cyclic transport method for a cyclic automated drill pipe transport vehicle according to Embodiment 1, including the following steps:

[0076] s1. Configuration: Select the number of drill pipe transport vehicles according to the depth of long-distance drilling. One transport vehicle needs to be equipped with a vehicle platform, drill pipe box, drill pipe box transfer device and walking device. The remaining transport vehicles only need to be equipped with a vehicle platform, drill pipe box and walking device.

[0077] s2. Connection: After the drilling rig reaches the working location and the azimuth and inclination angles are adjusted, it is firmly supported. At this time, the drilling rig is fixedly connected to the first transport vehicle through the fasteners installed on the drilling rig and the push block on the transport vehicle. Then, the transport vehicles are connected through the fasteners on the transport vehicle and the push block. At this time, the reserved track on the drilling rig is fully connected to the moving track on the corresponding drill rod box and the moving track of the transfer device on the transport vehicle.

[0078] s3. Lower base plate: After the connection and fixing between the drilling rig and the transport vehicle are completed, the base plates of each transport vehicle are lowered to the same height by the lifting device I, and the moving rails under the drill rod box on the base plate are all connected.

[0079] s4. Forward movement: The drill rod box on the first transport vehicle moves to the position where the drilling robot picks up the rod under the action of the horizontal moving component I. The drilling machine then performs drilling operations until the last drill rod in the drill rod box is completed.

[0080] s5. Reverse movement: The empty drill rod box in s4 moves backward to its initial position on the first transport vehicle;

[0081] s6. Positioning: The drill pipe box transfer device moves along the transfer device track under the action of its horizontal moving component II and reaches above the empty drill pipe box;

[0082] s7. Initial adjustment: Adjust the position of the crossbar using the hydraulic cylinder of the gantry frame so that the hooks are aligned with the four lifting rings of the empty drill rod box;

[0083] s8. Lowering: Under the action of lifting device II, the hook is lowered and hooks onto the lifting ring of the drill pipe box;

[0084] s9. Pull up: The hook engages with the lifting ring of the drill pipe box and moves upward. It stops running about 50mm above the upper moving track of the drill pipe box, so that the horizontal moving component I is disengaged from the upper moving track of the drill pipe box;

[0085] s10. Opening: The two movable plates retract under the action of their respective telescopic mechanisms and open downwards, with the movable plates rotating at an angle ≥90°;

[0086] s11. Secondary lowering: The drill pipe box moves downward under the action of the lifting device II until the roller I of the horizontal moving component I contacts the lower moving track of the drill pipe box;

[0087] s12. Unhooking: The hook disengages from the lifting ring and rises to the initial position under the action of lifting device II;

[0088] s13. Connecting plate: The two movable plates close under the action of their respective telescopic mechanisms, and the moving track II on the drill pipe box is connected to the moving track I on the drill pipe box;

[0089] s14. Movement: The drill pipe box on the second transport vehicle moves to the designated position on the drilling rig via the moving track on the drill pipe box. The drill pipe box on the third transport vehicle moves to the second transport vehicle via the moving track on the drill pipe box, and so on, until the drill pipe box on the nth transport vehicle moves to the (n-1)th transport vehicle. At the same time, the drill pipe box transfer device and drill pipe box of the first transport vehicle move to the middle position of the nth transport vehicle.

[0090] s15. Secondary opening: The two movable plates on the nth transport vehicle retract under the action of their respective telescopic mechanisms and open downwards, with the movable plate rotation angle ≥90°;

[0091] s16. Secondary positioning: The drill pipe box transfer device moves along the transfer device track under the action of its horizontal moving component II and is adjusted to be above the empty drill pipe box;

[0092] s17. Secondary initial adjustment: Adjust the position of the crossbar using the hydraulic cylinder of the gantry frame so that the hooks are aligned with the four lifting rings of the drill pipe box;

[0093] s18. Secondary lowering: Under the action of lifting device II, the hook is lowered and hooks onto the lifting ring of the drill pipe box;

[0094] s19. Secondary upward pull: The hook engages with the lifting ring of the drill pipe box and moves upward, approximately 50mm above the moving track on the drill pipe box of the vehicle platform;

[0095] s20. Secondary closing plate: The two movable plates close under the action of their respective telescopic mechanisms, and the moving track II on the drill pipe box is connected to the moving track I on the drill pipe box;

[0096] s21. Seating: The hook engages with the lifting ring of the drill pipe box and moves downward, and the roller I of the horizontal moving component I contacts the moving track II on the drill pipe box;

[0097] s22. Secondary disengagement: The hook disengages from the lifting ring of the drill pipe box and moves upward to the initial position;

[0098] s23. Replace drill rod box: The drilling rig performs drilling operations until the last drill rod in the drill rod box is completed. Then, repeat s5 to s22 to replace the drill rod boxes. After the drilling operation is completed, the empty drill rod boxes are placed in the second to the nth transport vehicles in sequence.

[0099] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0100] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0101] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A circulating automated drill pipe transport vehicle, characterized in that, It includes a vehicle platform (1), a drill pipe box (2), a drill pipe box transfer device (3), and a traveling device (4); The vehicle platform (1) includes a platform body (5), movable plates (6), and a base plate (8); the surface of the platform body (5) is provided with parallel drill rod box moving rail I (11) and transfer device moving rail (9); two movable plates (6) that can be opened are installed in the hollow part of the middle of the platform body (5); the two movable plates (6) are provided with drill rod box moving rail II (12); after the two movable plates (6) are rotated to be fixed horizontally, they can fill the hollow part of the middle of the platform body (5) and the drill rod box moving rail II (12) and the drill rod box moving rail I (11) are connected to form the drill rod box moving rail; after the two movable plates (6) are rotated to be opened, the drill rod box (2) can be lowered from the hollow part of the middle of the platform body (5) onto the base plate (8); the base plate (8) is located below the platform body (5) and the two are connected by a lifting device I (14); the base plate (8) is provided with a drill rod box lower moving rail (10) and is located directly below the drill rod box moving rail; The drill pipe box transfer device (3) is mounted on the platform body (5) and includes a gantry frame (27), a lifting device II (34) at the top of the gantry frame (27), and a horizontal moving component II (26) at the bottom of the gantry frame (27); the gantry frame (27) moves along the transfer device moving track (9) via the horizontal moving component II (26); The drill rod box (2) includes a drill rod box (2) body, a horizontal moving component I (21) located at the bottom of the drill rod box (2) body, and a lifting ring (25) located at the top of the drill rod box (2) body. When the drill rod box (2) is located on the platform body (5), it can be moved to the drill rod removal position of the drilling rig via the horizontal moving component I (21) along the upper moving track of the drill rod box for drilling construction. After the drilling of the drill rod in the drill rod box (2) is completed, the lifting device II (34) of the drill rod box transfer device (3) is connected to the lifting ring (25) of the drill rod box (2) via the hook (35) to lower the empty drill rod box (2) onto the base plate (8). The drill rod box (2) can be moved backward along the lower moving track (10) of the drill rod box via the horizontal moving component I (21). The walking device (4) is located at the bottom of the vehicle platform (1) and is used to drive the vehicle platform (1) to move.

2. The circulating automated drill pipe transport vehicle as described in claim 1, characterized in that, The drilling rig and multiple vehicle platforms (1) can be connected in sequence so that the upper moving track of the drill rod box of the multiple vehicle platforms (1) is connected, the moving track (9) of the transfer device is connected, and the lower moving track (10) of the drill rod box of each base plate (8) on the same plane is connected, thereby forming two channels, one above and one below, so that the movement of the drill rod box (2) forms a loop channel; the multiple drill rod boxes (2) can move sequentially along the connected upper moving track of the drill rod box to the drill rod taking position for drilling construction, and the drill rod box transfer device (3) can sequentially lower the empty drill rod box (2) after construction to the base plate (8) so that it moves backward along the connected lower moving track (10) of the drill rod box, and then lift the empty drill rod box (2) to the empty vehicle platform (1) through the rod box transfer device to realize the cyclic automated drill rod transportation.

3. The circulating automated drill pipe transport vehicle as described in claim 1, characterized in that, The movable plate (6) is connected to the platform body (5) by a telescopic mechanism (7). The telescopic mechanism (7) includes a pneumatic / hydraulic cylinder and two hinge supports, which are located on the movable plate (6) and the platform body (5) respectively, thereby controlling the opening and closing of the movable plate (6). The operating angle of the movable plate (6) is ≥90°.

4. The circulating automated drill pipe transport vehicle as described in claim 1, characterized in that, There are four lifting devices I (14), which are powered by hydraulic motors. The lifting devices I (14) are connected to the four corners of the base plate (8) by steel wire ropes. When the vehicle platform (1) moves, the base plate (8) retracts under the action of the lifting devices I (14), increasing the distance between the vehicle platform (1) and the ground. When the drill rod box (2) is transferred, the lifting devices I (14) lower the base plate (8) to ensure good passability of the drill rod box (2).

5. The circulating automated drill pipe transport vehicle as described in claim 1, characterized in that, The drill pipe box has two moving tracks located between the two transfer device moving tracks (9); the drill pipe box also has two moving tracks (10). The lengths of the platform body (5), the base plate (8), the transfer device moving track (9), the upper moving track of the drill pipe box, and the lower moving track (10) of the drill pipe box are all equal.

6. The circulating automated drill pipe transport vehicle as described in claim 1, characterized in that, The number of horizontal moving components I is 4 sets, symmetrically arranged at the four corners of the bottom of the drill pipe box (2) body; the horizontal moving components I include a connecting plate I (22) and a hydraulic motor I (24) fixed on the drill pipe box (2) body, and rollers I (23) provided between the connecting plate I (22) and the hydraulic motor; the distance between the two left and right rollers I (23) is equal to the distance between the two upper moving tracks of the drill pipe box and equal to the distance between the two lower moving tracks (10) of the drill pipe box; the hydraulic motor I (24) provides power to the rollers I (23) so that they move on the upper moving track or the lower moving track (10) of the drill pipe box; the lifting rings (25) are n-shaped and there are 4 of them, which are welded to the four corners of the top of the drill pipe box (2) body.

7. The circulating automated drill pipe transport vehicle as described in claim 1, characterized in that, The gantry (27) includes a frame (31), a crossbar (33), and a hydraulic cylinder (32). The frame (31) includes eight steel sections, four of which are welded to form a square frame, and the other four are welded vertically to the four corners of the frame as four legs. The crossbar (33) is movably positioned between two steel sections of the frame. The cylinder of the hydraulic cylinder (32) is hinged to the square frame, and the cylinder rod is fixed to the crossbar (33). The crossbar (33) can move on the frame under the push of the hydraulic cylinder (32). The direction of movement of the crossbar (33) is parallel to the direction of transfer of the drill pipe box (2). The lifting device II (34) and the hook (35) connected below it are fixed on the crossbar (33). The crossbar (33) drives the lifting device II (34) to move so as to meet the size requirements of different drill pipe boxes (2). There are two crossbars (33), and two hydraulic cylinders (32) are installed on each crossbar (33). The four hydraulic cylinders (32) are arranged symmetrically. There are four lifting devices II (34), which are powered by hydraulic motors and are connected to the four lifting rings (25) of the drill rod box (2) through wire ropes and hooks (35).

8. The circulating automated drill pipe transport vehicle as described in claim 7, characterized in that, The number of horizontal moving components II (26) is 4 sets, arranged at the bottom of the four legs of the gantry frame (27); the horizontal moving components II (26) include a connecting plate II (28) welded to the bottom of the legs of the gantry frame (27) and rollers II (29) and hydraulic motor II (30) connected in sequence to the connecting plate II (28); the distance between the two left and right rollers II (29) is equal to the distance between the two transfer device moving tracks (9); the hydraulic motor II (30) provides power to the rollers II (29) so that they can drive the gantry frame (27) to move on the transfer device moving track (9).

9. The circulating automated drill pipe transport vehicle as described in claim 2, characterized in that, The vehicle platform (1) has a push block (15) at the front end and a fixing member (16) at the rear end; the push block (15) at the front end of the vehicle platform (1) can be connected to the drilling rig or the fixing member (16) of the vehicle platform (1) in front of it; the fixing member (16) includes a base (17), a stop (18), a pin (19), and an elastic member (20); the base (17) is fixed to the end of the platform body (5), and the pin (19) is located on the base (17). The block (18) is located below the base (17) and connected to the base (17) through the elastic element (20). The block (18) can slide back and forth in the base (17). The push block (15) of the rear vehicle platform (1) is pushed into the fixing element (16) of the front vehicle platform (1). The block (18) slides backward and reaches the predetermined position. The pin (19) can be inserted into the hole of the push block (15) for fixing.

10. The automatic cyclic transport method of the cyclic automated drill pipe transporter according to any one of claims 2 to 9, characterized in that, Includes the following steps: s1. Configuration: Select the number of drill pipe transport vehicles according to the depth of long-distance drilling. One transport vehicle needs to be equipped with a vehicle platform, drill pipe box, drill pipe box transfer device and walking device. The remaining transport vehicles only need to be equipped with a vehicle platform, drill pipe box and walking device. s2. Connection: After the drilling rig reaches the working location and the azimuth and inclination angles are adjusted, it is firmly supported. At this time, the drilling rig is fixedly connected to the first transport vehicle through the fasteners installed on the drilling rig and the push block on the transport vehicle. Then, the transport vehicles are connected through the fasteners on the transport vehicle and the push block. At this time, the reserved track on the drilling rig is fully connected to the moving track on the corresponding drill rod box and the moving track of the transfer device on the transport vehicle. s3. Lower base plate: After the connection and fixing between the drilling rig and the transport vehicle are completed, the base plates of each transport vehicle are lowered to the same height by the lifting device I, and the moving rails under the drill rod box on the base plate are all connected. s4. Forward movement: The drill rod box on the first transport vehicle moves to the position where the drilling robot picks up the rod under the action of the horizontal moving component I. The drilling machine then performs drilling operations until the last drill rod in the drill rod box is completed. s5. Reverse movement: The empty drill rod box in s4 moves backward to its initial position on the first transport vehicle; s6. Positioning: The drill pipe box transfer device moves along the transfer device track under the action of its horizontal moving component II and reaches above the empty drill pipe box; s7. Initial adjustment: Align the hook of the gantry frame with the lifting ring of the empty drill rod box; s8. Lowering: Under the action of lifting device II, the hook is lowered and hooks onto the lifting ring of the drill pipe box; s9. Pull up: The hook engages with the lifting ring of the drill pipe box and moves upward, stopping when it is above the upper moving track of the drill pipe box, thus disengaging the horizontal moving component I from the upper moving track of the drill pipe box; s10. Opening: The two movable plates open downwards, and the rotation angle of the movable plates is ≥90°; s11. Secondary lowering: The drill pipe box moves downward under the action of the lifting device II until the horizontal moving component I contacts the lower moving track of the drill pipe box; s12. Unhooking: The hook disengages from the lifting ring and rises to the initial position under the action of lifting device II; s13. Connecting plate: The two movable plates are closed, and the moving track II on the drill pipe box is connected to the moving track I on the drill pipe box; s14. Movement: The drill pipe box on the second transport vehicle moves to the designated position on the drilling rig via the moving track on the drill pipe box. The drill pipe box on the third transport vehicle moves to the second transport vehicle via the moving track on the drill pipe box, and so on, until the drill pipe box on the nth transport vehicle moves to the (n-1)th transport vehicle. At the same time, the drill pipe box transfer device and drill pipe box of the first transport vehicle move to the middle position of the nth transport vehicle. s15. Secondary opening: The two movable plates on the nth transport vehicle open downwards, and the rotation angle of the movable plates is ≥90°; s16. Secondary positioning: The drill pipe box transfer device moves along the transfer device track under the action of its horizontal moving component II and is adjusted to be above the empty drill pipe box; s17. Secondary initial adjustment: Align the gantry hook with the lifting ring of the drill pipe box; s18. Secondary lowering: Under the action of lifting device II, the hook is lowered and hooks onto the lifting ring of the drill pipe box; s19. Secondary upward pull: The hook engages with the lifting ring of the drill pipe box and moves upward, above the moving track of the drill pipe box on the vehicle platform; s20. Secondary plate: The two movable plates are closed, and the moving track II on the drill pipe box is connected to the moving track I on the drill pipe box; s21. Seating: The hook engages with the lifting ring of the drill pipe box and moves downward, and the horizontal moving component I contacts the moving track II on the drill pipe box; s22. Secondary disengagement: The hook disengages from the lifting ring of the drill pipe box and moves upward to the initial position; s23. Replace drill rod box: The drilling rig performs drilling operations until the last drill rod in the drill rod box is completed. Then, repeat s5 to s22 to replace the drill rod boxes. After the drilling operation is completed, the empty drill rod boxes are placed in the second to the nth transport vehicles in sequence.

Images