Drill rod loading and unloading system

Abstract

The invention relates to the field of coal mine drilling, and discloses a drill rod loading and unloading system which comprises a rack and a drill rod box used for storing drill rods, the drill rod box comprises a bottom plate and vertical plates arranged at the two ends of the bottom plate, partition plates for separating the drill rods are arrayed on the opposite surfaces of the vertical plates, and a transfer manipulator for transferring the drill rods is arranged on the outer side of the vertical plate close to the rack. The transfer manipulator comprises a first sliding part, a lifting part and a clamping unit capable of sliding relative to the lifting part, a longitudinal opening allowing the clamping unit and a drill rod to penetrate through is formed in the middle of the vertical plate, the lifting part is installed on the first sliding part and can transversely slide relative to the vertical plate, and a penetrating hole opposite to the longitudinal opening and allowing the drill rod to penetrate through is formed in the rack; one side of the through hole is provided with an overturning manipulator for overturning the drill rod to enable the drill rod to be coaxial with the driving drill rod. The drill rod loading and unloading system is simple in conveying path and rapid in drill rod loading and unloading.

Description

Technical Field

[0001] The invention relates to the field of coal mine drilling, and in particular to a drill rod loading and unloading system. Background Art

[0002] Automatic drilling rigs are often used in coal mining and the development of other mineral resources. The automatic drilling rig box is used to drive multiple drill rods into the formation in sequence. Therefore, there is usually a device next to the drilling rig to provide drill rods to the drilling rig. The existing equipment that automatically transports drill rods and connects them to the drilling rig is generally complex in structure, and the process requires multiple manipulators or components to work together. It usually includes a stage of grabbing the drill rod, transferring the drill rod to the docking point, and then using a manipulator to dock and install it. The drill rod and the active drill rod are coaxial, and the drill rod is threadedly connected to the active drill rod after the active drill rod is rotated. The drill rod is pushed forward. The process is completed in multiple steps and sequences, and the working time is long. In addition, the working surface space in the mine is relatively small, and more connectors are used, and personnel are required to operate on site. The equipment failure rate is high during operation, and the requirements for on-site operating space are high, which is not conducive to the development of on-site construction. For example, the patent document with patent publication number CN110952972B uses a transfer robot along the arrangement direction of the drill rod box to grab the drill rod, and then places it in the transfer device for subsequent conveying device to grab. Generally, the drill rod placement direction of the drill rod box is required to be parallel to the frame to simplify the conveying process. However, this method leads to problems such as complex conveying system and increased length and height of the drilling rig; therefore, this solution must be equipped with a transfer device parallel to the axis of the drill rod, plus subsequent manipulators and other devices, at least three conveying devices are required to complete the drill rod transportation. Secondly, the increase in transfer devices is bound to increase the length of the drilling rig; then, the transfer robot needs to continuously switch the drill rod between high and low positions when conveying the drill rod to the transfer device, which requires a large working height space and is difficult to adapt to small-section tunnel conditions. For example, in the patent document with patent publication number CN219299240U, the direction of the drill rod box is transposed, and the drill rods are transported in a direction perpendicular to the rack, eliminating the need for a transfer device. However, the function of its transport mechanism is too single, resulting in the drill rods being unable to be transported to the rack, and a more complex loading and unloading mechanism must be added to complete the final transportation of the drill rods. In addition, the single function of its transport mechanism also results in the inability to directly remove the drill rods from the drill rod box, and an additional auxiliary device is required. Therefore, it is necessary to provide a drill rod loading and unloading system with a simpler transport path and quick loading and unloading of drill rods. Summary of the invention

[0003] The present invention is intended to provide a drill rod loading and unloading system, so as to provide a drill rod loading and unloading system with a relatively simple conveying path and quick loading and unloading of drill rods.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a drill rod loading and unloading system, including a frame and a drill rod box for storing drill rods, the drill rod box including a bottom plate and vertical plates arranged at both ends of the bottom plate, the opposite surfaces of the vertical plates are arrayed with partitions for separating the drill rods, a transfer robot for transferring the drill rods is arranged on the outer side of the vertical plate close to the frame, the transfer robot includes a first sliding part, a lifting part and a clamping unit that can slide relative to the lifting part, and a longitudinal opening is opened in the middle of the vertical plate for the clamping unit and the drill rod to pass through, the lifting part is installed on the first sliding part and can slide horizontally relative to the vertical plate, the frame is provided with a through hole opposite to the longitudinal opening for the drill rod to pass through, and a flipping robot is provided on one side of the through hole to flip the drill rod to make it coaxial with the active drill rod.

[0005] The beneficial effects of this program are: In the technical solution, a longitudinal opening is provided in the middle of the vertical plate for the clamping unit and the drill rod to pass through, so that the drill rod and the gripper can pass through this opening smoothly. A through hole is provided on the frame for the drill rod to pass through, which is opposite to the longitudinal opening. A flipping manipulator for adjusting the angle of the drill rod is provided on one side of the through hole. The drill rods are arranged in an array on both sides of the drill rod box, and the middle part of the drill rod box aligned with the longitudinal opening is left empty. Through the above arrangement, when clamping the drill rod, the clamping unit slides into the drill rod box to lift and clamp the drill rod. After the clamping unit clamps the drill rod, it starts to slide towards the longitudinal opening in the middle of the vertical plate, and one end of the drill rod passes through the longitudinal opening until it passes through the through hole. The drill rod is then flipped by the flipping manipulator and parallel to the frame for docking and installation. In this technical solution, a longitudinal opening is opened on the vertical plate for the clamping unit and the drill rod to pass through, and the drill rod is matched with the perforation opened on the frame. Compared with other prior arts, the drill rod does not need to pass through the clamping unit to go around the drill rod box and dock with the frame from above. If it is flipped, it will inevitably require a higher operating height and more complex docking equipment. On the other hand, it can directly insert the drill rod into the perforation from the longitudinal opening and then flip it. On the one hand, it can ensure the same insertion position of the drill rod each time, and on the other hand, it shortens the length direction of the drill rod loading and unloading system. There is no need to reserve a space for docking and insertion of the length of the drill rod. Through the above settings, the loading and unloading system of this solution can reduce the size in the length direction and height direction, and can enter the drilling space with a lower height and smaller operating space for operation, and can adapt to more types of operating environments in complex working conditions such as small-section tunnels. The partitions are set on both sides of the drill rod box and arranged in an array, which can effectively prevent the displacement of the drill rod during storage and transportation, and ensure the stable placement of the array of the drill rod.

[0006] Compared with the traditional drill rod conveying device, by opening a longitudinal opening in the middle of the vertical plate, the drill rod and the clamping unit can pass directly through this opening. This allows the drill rod to pass through the system smoothly and straightly, and does not require complicated multiple transfers or bypasses, avoiding the process in which the drill rod needs to pass through multiple manipulators or transfer devices in traditional technology. The operation process is greatly simplified, reducing multiple steps and the coordination of manipulators, and improving loading and unloading efficiency. In addition, the drill rod is directly turned over by passing through the perforation through the longitudinal opening, making the entire process smoother, avoiding the need for multiple adjustments and complex operations in traditional devices, and ensuring the accuracy of the docking between the drill rod and the frame. This device is more flexible and adaptable in the limited working space underground, reducing the occupation of underground space resources, and is conducive to the reasonable layout of underground equipment and the smooth progress of the overall operation process. At the same time, this technical solution can eliminate the transfer device and greatly simplify the transfer system and transportation route.

[0007] Preferably, as an improvement, the first sliding part includes a first sliding rail and a first sliding seat slidably arranged on the first sliding rail, the lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidably arranged in the lifting outer cylinder, the lifting cylinder is installed at the bottom of the lifting inner cylinder, and the output end of the lifting cylinder is fixedly connected to the lifting inner cylinder.

[0008] The beneficial effect is: through the above-mentioned arrangement, the lifting part is installed on the first slide, and the first slide can drive the lifting part to slide horizontally along the vertical plate to realize the lateral displacement of the clamping unit, so that the clamping unit can move in the horizontal direction on the vertical plate, and adjust its horizontal position relative to the drill rod box. The lifting inner cylinder slides relative to the lifting outer cylinder to realize the height adjustment of the clamping unit to adapt to the loading and unloading operations of drill rods at different heights and avoid the clamping difficulties caused by height differences.

[0009] Preferably, as an improvement, it also includes a second sliding part, which includes a crossbeam, a second slide rail and a second slide seat slidably arranged on the second slide rail. The crossbeam is fixedly arranged on the top end of the lifting inner cylinder, the second slide rail is fixed on the side of the crossbeam, and the clamping unit is fixed on the second slide seat.

[0010] The beneficial effect is: by fixing the clamping unit on the second slide seat and sliding along the crossbeam through the second sliding part, the longitudinal movement of the clamping unit between the drill rod box and the frame can be realized, so that the clamping unit can not only be adjusted vertically (through the lifting cylinder of the lifting part), but also be close to or away from the frame in the horizontal direction, thereby realizing precise position adjustment of the drill rod.

[0011] Preferably, as an improvement, the clamping unit includes a telescopic cylinder, a telescopic joint and a gripper, the telescopic joint includes an inner sleeve and an outer sleeve, the outer sleeve is fixed on the second slide seat, the telescopic cylinder is installed on the top of the outer sleeve, the output end of the telescopic cylinder is fixedly connected to the inner cylinder, and also includes a clamping drive component, and the gripper is installed on the inner sleeve through the clamping drive component.

[0012] The beneficial effects are: the clamping drive controls the opening and closing of the claws, so that the clamping unit can accurately clamp and release the drill rod; the combination of the telescopicity of the clamping unit and the clamping drive makes the clamping action of the drill rod more precise, and can accurately clamp drill rods of different heights, making the loading and unloading process smoother, shortening the operation time, and improving the operation efficiency.

[0013] Preferably, as an improvement, the flipping robot includes a clamping jaw part, a fixed seat and a flipping cylinder, the fixed seat is fixed on the frame, the clamping jaw part includes a clamping jaw, a swinging cylinder and a clamping jaw cylinder, the clamping jaws are hinged on one side of the swinging cylinder, the clamping jaw cylinder is arranged in the swinging cylinder, one end of the clamping jaw is connected to the output end of the clamping jaw cylinder to achieve clamping, the other side of the swinging cylinder is hinged to one end of the fixed seat, both ends of the flipping cylinder are hinged to the swinging cylinder and the other end of the fixed seat respectively, and the flipping cylinder is extended and retracted to drive the swinging cylinder to swing around the hinge point.

[0014] The beneficial effect is as follows: the flipping cylinder drives the clamping jaw to do flipping movement. When the drill rod is inserted perpendicularly to the rack direction, the clamping jaw drives the clamping jaw cylinder to clamp one end of the drill rod first, the flipping cylinder shortens the stroke, and the swing cylinder swings 90 degrees around the fixed seat, driving the drill rod to flip 90 degrees and basically coincide with the drilling axis of the rack for docking and installation, and then the clamping jaw cylinder is sent to reset. The above settings are used to optimize the route, merge the flipping function and the translation function, and reduce the telescopic joints. The flipping and translation functions are merged to avoid the situation where multiple complex components need to work together in the traditional system. The traditional system may require a separate flipping device and multiple manipulators to complete the transfer, flipping and docking of the drill rod. The design uses the flipping cylinder to directly drive the swinging barrel to flip, which simplifies the mechanical structure, reduces the telescopic joints and related connecting parts, and makes the loading and unloading process of the drill rod smoother. The telescopic action of the flipping cylinder can accurately control the flipping angle of the clamping jaw, ensuring that the drill rod can be accurately flipped from a vertical position to a position parallel to the axis of the drilling rig, avoiding docking failure or drill rod misalignment caused by inaccurate control.

[0015] Preferably, as an improvement, it also includes a connecting block, through which the lifting outer cylinder is fixed to the first slide seat, an inner slide rail is detachably provided on the inner side of the lifting outer cylinder, a slider suitable for the inner slide rail is fixed on the outer side of the lifting inner cylinder, and the slider slides in cooperation with the inner slide rail.

[0016] The beneficial effects are: through the sliding cooperation of the inner sliding rail and the sliding block set above, it is ensured that the lifting inner cylinder maintains a stable guidance during the lifting process, and the displacement or swing of the lifting inner cylinder during the lifting process is reduced; it can improve the accuracy of the lifting action, ensure the accuracy of the clamping unit during the vertical lifting process, prevent unnecessary displacement or misoperation, and at the same time improve the overall stability of the lifting part.

[0017] Preferably, as an improvement, the inner slide rail is provided with an array of connection holes, and the inner slide rail is detachably connected to the lifting outer cylinder by bolts.

[0018] The beneficial effects are: the inner slide rail is detachably connected to the lifting outer cylinder by bolts, so that when the inner slide rail is worn or damaged, maintenance personnel can easily remove and replace the slide rail; the inner slide rail is connected to the lifting outer cylinder by bolts, ensuring a firm fixation between the two.

[0019] Preferably, as an improvement, there are two inner slide rails and two sliders, the inner slide rails are symmetrically arranged on both sides of the lifting outer cylinder, and the sliders are also symmetrically fixed on the outside of the lifting inner cylinder.

[0020] The beneficial effects are as follows: by symmetrically arranging the inner slide rails and the sliders, it can be ensured that the force on the lifting system is more uniform. During the lifting process, the connection force between the lifting inner cylinder and the lifting outer cylinder is balanced, which effectively prevents the system from being offset or deformed due to unbalanced load or unbalanced force; the symmetrical slide rail and slider configuration avoids the deflection or offset that may occur during the lifting process, ensuring that the lifting components always move smoothly within the predetermined track. On the other hand, it is beneficial to the balance of the clamping unit, preventing the lifting inner cylinder from being seriously offset and resulting in a shortened life of the manipulator, and is beneficial to the downward movement of the drill rod in the opening of the drill rod box. At the same time, the clamping unit in the technical solution can be telescopically coordinated with the lifting part to perform two-stage lifting, which can simultaneously reduce the length of the drilling rig and the height requirement during operation.

[0021] Preferably, as an improvement, racks are provided on the opposite surfaces of the first slide rail and the second slide rail, and a first gear and a second gear are respectively meshed with the racks on the first slide rail and the second slide rail, a first motor is installed on the first slide seat to drive the first gear to rotate, and a second motor is installed on the second slide seat to drive the second gear to rotate.

[0022] The beneficial effects are: through the meshing of the rack and the gear, the accuracy of the movement of the slide on the slide rail can be ensured, reducing the motion error caused by friction or clearance. At the same time, the rack and gear structure can provide stronger load-bearing capacity and transmission efficiency, and is not prone to displacement, which helps to improve the stability and reliability of the entire lifting system.

[0023] Preferably, as an improvement, the first slide seat and the second slide seat are integrally formed with clamping plates on both upper and lower sides, and the clamping plates are used to clamp the outer side of the first slide rail or the second slide seat for limiting the position. Preferably, as an improvement, when the flip cylinder is extended to the limit length, the length direction of the swing cylinder is parallel to the frame, and when the flip cylinder is shortened to the limit length, the length direction of the swing cylinder is perpendicular to the frame.

[0024] The beneficial effects are: ensuring the correct positioning of the drill rod and avoiding operating errors.

[0025] Preferably, as an improvement, side panels are fixedly provided on both sides of the bottom plate.

[0026] Preferably, as an improvement, a plurality of observation holes are provided on the vertical plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the installation structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a drill pipe box and a transfer manipulator according to an embodiment of the present invention; Figure 3 A cross-sectional view of a lifting outer cylinder according to an embodiment of the present invention; Figure 4 A top view of a lifting outer cylinder according to an embodiment of the present invention; Figure 5 A bottom view of the flip robot according to an embodiment of the present invention; Figure 6 Schematic diagram of the structure of the flip robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following is further described in detail through specific implementation methods: The figure marks in the drawings of the specification include: frame 1, bottom plate 2, vertical plate 3, partition 4, side plate 5, observation hole 6, longitudinal opening 7, flip manipulator 8, first slide rail 9, first slide seat 10, lifting outer cylinder 11, lifting inner cylinder 12, cross beam 13, second slide rail 14, second slide seat 15, telescopic cylinder 16, telescopic joint 17, claw 18, clamp 19, fixed seat 20, flip cylinder 21, swing cylinder 22, connecting block 23, inner slide rail 24, rack 25, first motor 26, second motor 27, clamping plate 28, drill rod 29.

[0029] Example The embodiment is basically as follows Figure 1-Figure 6 As shown, Figure 1 and Figure 2The drill rod loading and unloading system shown includes a frame 1 and a drill rod box for storing drill rods 29, the drill rod box includes a bottom plate 2 and vertical plates 3 arranged at both ends of the bottom plate 2, the opposite surfaces of the vertical plates 3 are arrayed with partitions 4 for separating the drill rods 29, side plates 5 are also fixedly provided on both sides of the bottom plate 2, and a plurality of observation holes 6 are also provided on the vertical plates 3 for observing the number of remaining drill rods 29 between each partition 4; a transfer manipulator for transferring the drill rods 29 is provided on the outer side of the vertical plate 3 close to the frame 1, the transfer manipulator includes a first sliding part, a lifting part and a clamping unit that can slide relative to the lifting part, and a longitudinal opening 7 for the clamping unit and the drill rod 29 to pass through is provided in the middle of the vertical plate 3, the lifting part is installed on the first sliding part and can slide horizontally relative to the vertical plate 3, a through hole opposite to the longitudinal opening 7 is provided on the frame 1 for the drill rod 29 to pass through, and a flipping manipulator 8 is provided on one side of the through hole to flip the drill rod 29 to make it coaxial with the active drill rod.

[0030] In the present technical solution, a longitudinal opening 7 is provided in the middle of the vertical plate 3 for the clamping unit and the drill rod 29 to pass through, so that the drill rod 29 and the gripper 18 can pass through this opening smoothly. A through hole is provided on the frame 1 for the drill rod 29 to pass through, which is opposite to the longitudinal opening 7. A flip manipulator 8 for adjusting the angle of the drill rod 29 is provided on one side of the through hole. The drill rods 29 are arranged in an array on both sides of the drill rod box, and the middle part of the drill rod box aligned with the longitudinal opening 7 is left empty. Through the above arrangement, when the drill rod 29 is clamped, the clamping unit slides into the drill rod box to lift and clamp the drill rod 29. After the clamping unit clamps the drill rod 29, it starts to slide towards the longitudinal opening 7 in the middle of the vertical plate 3, and one end of the drill rod 29 passes through the longitudinal opening 7 until it passes through the through hole. The drill rod 29 is then flipped by the flip manipulator 8 and parallel to the frame 1 for docking and installation of the drill rod 29. In the technical solution, a longitudinal opening 7 is formed on the vertical plate 3 for the clamping unit and the drill rod 29 to pass through, and the longitudinal opening 7 is matched with the perforation formed on the frame 1. Compared with other prior arts, the drill rod 29 does not need to pass through the clamping unit to go around the drill rod box and approach the frame 1 from above for docking. If it is turned over, it will inevitably require a higher operating height and more complex docking equipment. On the other hand, it can be directly inserted into the perforation from the longitudinal opening 7 and then turned over. On the one hand, it can ensure the same insertion position of the drill rod 29 each time, and on the other hand, it shortens the length direction of the drill rod 29 loading and unloading system. There is no need to reserve a docking insertion space of the length of the drill rod 29 for the length of the drill rod 29. Through the above arrangement, the loading and unloading system of the present solution can reduce the size in the length direction and height direction, can enter the drilling space with a lower height and smaller operating space for operation, and can adapt to more types of operating environments in complex working conditions such as small-section tunnels. The partitions 4 are arranged on both sides of the drill rod box and arranged in an array, which can effectively prevent the displacement of the drill rod 29 during storage and transportation, and ensure the stable placement of the array of the drill rod 29.

[0031] Compared with the traditional drill rod 29 conveying device, by opening a longitudinal opening 7 in the middle of the vertical plate 3, the drill rod 29 and the clamping unit can directly pass through this opening. This allows the drill rod 29 to pass through the system smoothly and straightly, and does not require complicated multiple transfers or bypasses, avoiding the process in which the drill rod 29 needs to pass through multiple manipulators or transfer devices in traditional technology, greatly simplifying the operation process, reducing multiple steps and coordination of manipulators, and improving loading and unloading efficiency. In addition, the drill rod 29 is directly turned over through the perforation through the longitudinal opening 7, making the entire process smoother, avoiding the situation in which multiple adjustments and complex operations are required in traditional devices, and ensuring the accuracy of the docking of the drill rod 29 with the frame 1. This device is more flexible and adaptable in the limited working space underground, reducing the occupation of underground space resources, and is conducive to the reasonable layout of underground equipment and the smooth progress of the overall operation process. At the same time, this technical solution can save the transfer device and greatly simplify the transfer system and transportation route.

[0032] The first sliding part includes a first slide rail 9 and a first slide seat 10 slidably arranged on the first slide rail 9. The lifting part includes a lifting outer cylinder 11, a lifting cylinder and a lifting inner cylinder 12 slidably arranged in the lifting outer cylinder 11. The lifting cylinder is installed at the bottom of the lifting inner cylinder 12, and the output end of the lifting cylinder is fixedly connected to the lifting inner cylinder 12. The lifting part is installed on the first slide seat 10. The first slide seat 10 can drive the lifting part to slide horizontally along the vertical plate 3 to achieve the lateral displacement of the clamping unit, so that the clamping unit can move in the horizontal direction on the vertical plate 3 to adjust its horizontal position relative to the drill rod box. The lifting inner cylinder 12 slides relative to the lifting outer cylinder 11 to achieve the height adjustment of the clamping unit to adapt to the loading and unloading operations of the drill rods 29 at different heights and avoid the clamping difficulties caused by the height difference. The second sliding part also includes a cross beam 13, a second slide rail 14, and a second slide seat 15 slidably arranged on the second slide rail 14. The cross beam 13 is fixedly arranged on the top of the lifting inner cylinder 12, the second slide rail 14 is fixed on the side of the cross beam 13, and the clamping unit is fixed on the second slide seat 15. By fixing the clamping unit on the second slide seat 15 and sliding along the cross beam 13 through the second sliding part, the longitudinal movement of the clamping unit between the drill rod box and the frame 1 can be achieved, so that the clamping unit can not only be adjusted vertically (through the lifting cylinder of the lifting part), but also be close to or away from the frame 1 in the horizontal direction, so as to achieve precise position adjustment of the drill rod 29.

[0033] like Figure 3 and Figure 4As shown, the inner slide rail 24 is provided with connection holes in an array, and the inner slide rail 24 is detachably connected to the lifting outer cylinder 11 by bolts. The inner slide rail 24 is detachably connected to the lifting outer cylinder 11 by bolts, so that when the inner slide rail 24 is worn or damaged, maintenance personnel can easily remove and replace the slide rail; the inner slide rail 24 is connected to the lifting outer cylinder 11 by bolts, ensuring a firm fixation between the two. There are two inner slide rails 24 and two sliders, and the inner slide rails 24 are symmetrically arranged on both sides of the lifting outer cylinder 11, and the sliders are also symmetrically fixed on the outside of the lifting inner cylinder 12. By symmetrically arranging the inner slide rail 24 and the slider, it can be ensured that the force on the lifting system is more uniform. During the lifting process, the connection force between the lifting inner cylinder 12 and the lifting outer cylinder 11 is balanced, which effectively prevents the system from being offset or deformed due to unbalanced load or unbalanced force; the symmetrical slide rail and slider configuration avoids the deflection or offset phenomenon that may occur during the lifting process, ensuring that the lifting components always move smoothly within the predetermined track. On the other hand, it is beneficial to the balance of the clamping unit, preventing the lifting inner cylinder 12 from being seriously offset and resulting in a shortened life of the manipulator, and is beneficial to the downward movement of the drill rod 29 in the opening of the drill rod box. At the same time, the clamping unit in the present technical solution can be telescopically coordinated with the lifting part to perform two-stage lifting, which can simultaneously reduce the length of the drilling rig and the height requirement during operation.

[0034] The clamping unit in this embodiment includes a telescopic cylinder 16, a telescopic joint 17 and a gripper 18. The telescopic joint 17 includes an inner sleeve and an outer sleeve. The outer sleeve is fixed on the second slide 15. The telescopic cylinder 16 is installed on the top of the outer sleeve. The output end of the telescopic cylinder 16 is fixedly connected to the inner cylinder. It also includes a clamping drive component. The gripper 18 is fixedly installed on the inner sleeve through the clamping drive component. The clamping drive component controls the opening and closing of the gripper 18, so that the clamping unit can accurately clamp and release the drill rod 29. The combination of the telescopicity of the clamping unit and the clamping drive component makes the clamping action of the drill rod 29 more precise, and can accurately clamp the drill rod 29 of different heights, making the loading and unloading process smoother, shortening the operation time, and improving the operation efficiency.

[0035] like Figure 5 and Figure 6As shown, in this embodiment, the flip manipulator 8 includes a clamping jaw 19, a fixed seat 20 and a flipping cylinder 21. The fixed seat 20 is fixed on the frame 1. The clamping jaw 19 includes a clamping jaw 19, a swinging cylinder 22 and a clamping jaw cylinder. The clamping jaw 19 is hinged on one side of the swinging cylinder 22. The clamping jaw cylinder is arranged in the swinging cylinder 22. One end of the clamping jaw 19 is connected to the output end of the clamping jaw cylinder to achieve clamping. The other side of the swinging cylinder 22 is hinged to one end of the fixed seat 20. The two ends of the flipping cylinder 21 are respectively hinged to the swinging cylinder 22 and the other end of the fixed seat 20. The flipping cylinder 21 is extended and retracted to drive the swinging cylinder 22 to swing around the hinge point. When the flipping cylinder 21 is extended to the limit length, the length direction of the swinging cylinder 22 is parallel to the frame 1. When the flipping cylinder 21 is shortened to the limit length, the length direction of the swinging cylinder 22 is perpendicular to the frame 1. The flip cylinder 21 drives the clamp 19 to do a flipping movement. When the drill rod 29 is inserted perpendicularly to the frame 1, the clamp 19 first drives the clamp cylinder to clamp one end of the drill rod 29, the flip cylinder 21 shortens its stroke, and the swing cylinder 22 swings 90 degrees around the fixed seat 20, driving the drill rod 29 to flip 90 degrees and basically coincide with the drilling axis of the frame 1, and then docking and installation are performed. After that, the flip cylinder 21 extends its stroke to reset. Through the above settings, the route is optimized, the flip function and the translation function are merged, and the telescopic joint 17 is reduced. The flip and translation functions are merged to avoid the situation in which multiple complex components need to work together in the traditional system. The traditional system may require a separate flip device and multiple manipulators to complete the transfer, flipping and docking of the drill rod 29. The design uses the flip cylinder 21 to directly drive the swing cylinder 22 to flip, which simplifies the mechanical structure, reduces the telescopic joint 17 and related connecting parts, and makes the loading and unloading process of the drill rod 29 smoother. The telescopic action of the flip cylinder 21 can accurately control the flip angle of the clamp 19, ensuring that the drill rod 29 can be accurately flipped from a vertical position to a position parallel to the axis of the drilling rig, avoiding docking failure or misalignment of the drill rod 29 due to inaccurate control.

[0036] It also includes a connecting block 23, through which the lifting outer cylinder 11 is clamped and fixed to the first slide seat 10, and a detachable inner slide rail 24 is provided on the inner side of the lifting outer cylinder 11, and a slider suitable for the inner slide rail 24 is fixed on the outer side of the lifting inner cylinder 12, and the slider and the inner slide rail 24 are slidably matched.

[0037] The surfaces opposite to the first slide rail 9 and the second slide rail 14 are provided with a rack 25, and a first gear and a second gear are provided to mesh with the racks 25 on the first slide rail 9 and the second slide rail 14 respectively. A first motor 26 is installed on the first slide 10 to drive the first gear to rotate, and a second motor 27 is installed on the second slide 15 to drive the second gear to rotate. Through the meshing of the rack 25 and the gear, the accuracy of the movement of the slide on the slide rail can be ensured, and the motion error caused by friction or clearance can be reduced. At the same time, the gear rack 25 structure can provide stronger load-bearing capacity and transmission efficiency, and is not prone to displacement, which helps to improve the stability and reliability of the entire lifting system. The first slide 10 and the second slide 15 are both integrally formed with a clamping plate 28 on the upper and lower sides. The clamping plate 28 is used to clamp the outer side of the first slide rail 9 or the second slide 15 for limiting.

[0038] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Drill pipe loading and unloading system, characterized by: The invention comprises a frame and a drill rod box for storing drill rods, wherein the drill rod box comprises a bottom plate and vertical plates arranged at both ends of the bottom plate, partitions for separating drill rods are arrayed on opposite surfaces of the vertical plates, a transfer robot for transferring drill rods is arranged on the outer side of the vertical plates close to the frame, the transfer robot comprises a first sliding part, a lifting part and a clamping unit which can slide relative to the lifting part, and a longitudinal opening for the clamping unit and the drill rod to pass through is opened in the middle of the vertical plate, the lifting part is installed on the first sliding part and can slide horizontally relative to the vertical plate, a through hole for the drill rod to pass through is opened on the frame and is opposite to the longitudinal opening, and a flipping robot for flipping the drill rod to make it coaxial with the active drill rod is arranged on one side of the through hole.

2. The drill pipe handling system according to claim 1, characterized in that: The first sliding part includes a first slide rail and a first slide seat slidably arranged on the first slide rail, the lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidably arranged in the lifting outer cylinder, the lifting cylinder is installed at the bottom of the lifting inner cylinder, and the output end of the lifting cylinder is fixedly connected to the lifting inner cylinder.

3. The drill pipe handling system according to claim 2, characterized in that: It also includes a second sliding part, which includes a crossbeam, a second slide rail and a second slide seat slidably arranged on the second slide rail. The crossbeam is fixedly arranged on the top end of the lifting inner cylinder, the second slide rail is fixed on the side of the crossbeam, and the clamping unit is fixed on the second slide seat.

4. The drill pipe handling system according to claim 3, characterized in that: The clamping unit includes a telescopic cylinder, a telescopic joint and a gripper. The telescopic joint includes an inner sleeve and an outer sleeve. The outer sleeve is fixed on the second slide seat. The telescopic cylinder is installed on the top of the outer sleeve. The output end of the telescopic cylinder is fixedly connected to the inner cylinder. It also includes a clamping drive component. The gripper is installed on the inner sleeve through the clamping drive component.

5. The drill pipe handling system according to claim 4, characterized in that: The flipping robot includes a clamping jaw part, a fixed seat and a flipping cylinder. The fixed seat is fixed on the frame. The clamping jaw part includes a clamping jaw, a swinging cylinder and a clamping jaw cylinder. The clamping jaws are hinged on one side of the swinging cylinder. The clamping jaw cylinder is arranged in the swinging cylinder. One end of the clamping jaw is connected to the output end of the clamping jaw cylinder to achieve clamping. The other side of the swinging cylinder is hinged to one end of the fixed seat. Both ends of the flipping cylinder are hinged to the swinging cylinder and the other end of the fixed seat respectively. The flipping cylinder is telescoped to drive the swinging cylinder to swing around the hinge point.

6. The drill pipe handling system according to claim 5, characterized in that: It also includes a connecting block, through which the lifting outer cylinder is fixedly connected with the first slide seat, the inner side of the lifting outer cylinder is detachably provided with an inner slide rail, the outer side of the lifting inner cylinder is fixed with a slider suitable for the inner slide rail, and the slider is slidably matched with the inner slide rail.

7. The drill pipe handling system according to claim 6, characterized in that: The inner slide rail is provided with connection holes in an array, and the inner slide rail is detachably connected to the lifting outer cylinder through bolts.

8. The drill pipe handling system according to claim 7, characterized in that: There are two inner slide rails and two sliders. The inner slide rails are symmetrically arranged on both sides of the lifting outer cylinder, and the sliders are also symmetrically fixed on the outside of the lifting inner cylinder.

9. The drill pipe handling system according to claim 8, characterized in that: Racks are provided on the surfaces opposite to the first slide rail and the second slide rail, and first gears and second gears are respectively engaged with the racks on the first slide rail and the second slide rail. A first motor is installed on the first slide seat to drive the first gear to rotate, and a second motor is installed on the second slide seat to drive the second gear to rotate.

10. The drill pipe handling system according to claim 9, characterized in that: The first slide seat and the second slide seat are integrally formed with clamping plates on both upper and lower sides, and the clamping plates are used to clamp the outer side of the first slide rail or the second slide seat for limiting.

11. The drill pipe handling system according to claim 10, characterized in that: When the tilting oil cylinder is extended to the limit length, the length direction of the swing cylinder is parallel to the frame, and when the tilting oil cylinder is shortened to the limit length, the length direction of the swing cylinder is perpendicular to the frame.

12. The drill pipe handling system according to claim 11, characterized in that: Side panels are also fixedly arranged on both sides of the bottom plate.

13. The drill pipe handling system according to claim 12, characterized in that: There are also multiple observation holes on the vertical plate.

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