Drill pipe handling system

Abstract

The present application 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 for storing drill rods, the drill rod box comprises a bottom plate and vertical plates arranged at both ends of the bottom plate, opposite surfaces of the vertical plates are both arrayed with partition plates for partitioning the drill rods, 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 is formed in the middle of the vertical plate for the clamping unit and the drill rods to pass through, the lifting part is installed on the first sliding part and can slide transversely relative to the vertical plate, a through hole is formed in the rack and opposite to the longitudinal opening for the drill rods to pass through, and a turnover manipulator is arranged on one side of the through hole and used for turning over the drill rods to make them coaxial with the driving drill rods. The drill rod loading and unloading system has a relatively simple conveying path and can load and unload the drill rods quickly.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling, and more specifically to a drill pipe loading and unloading system. Background Technology

[0002] Automatic drilling rigs are frequently used in coal mining and other mineral resource development. The automatic drilling rig housing is used to drive multiple drill rods sequentially into the ground. Therefore, a device is usually installed next to the drilling rig to supply drill rods. Existing automatic drill rod feeding and docking equipment is generally complex in structure, requiring multiple robotic arms or components to work together. This typically includes a drill rod grabbing stage, transferring the drill rod to the docking point, and then using a robotic arm for docking and installation. The drill rod and the drive drill rod are coaxial, and after the drive drill rod rotates, the drill rod is threadedly connected to the drive drill rod for propulsion. This process involves multiple steps and sequences, resulting in a long working time. Furthermore, the working space in mines is relatively small, requiring numerous connecting parts and on-site personnel operation. The equipment failure rate is high during operation, and the requirements for on-site operating space are significant, hindering on-site construction. For example, patent publication CN110952972B uses a transfer robot along the drill pipe box arrangement direction to grab drill pipes and then place them in a transfer device for subsequent conveying devices to grab. Generally, the drill pipes in the drill pipe box need to be placed parallel to the frame to simplify the conveying process. However, this method leads to problems such as a complex conveying system and increased drilling rig length and height. Therefore, this solution must be equipped with a transfer device parallel to the drill pipe axis, plus subsequent robots and other devices, requiring at least three conveying devices to complete the drill pipe conveying. Secondly, the addition of transfer devices inevitably increases the drilling rig length; then, the transfer robot needs to constantly switch the drill pipes between high and low positions to convey them to the transfer device, requiring a large working height space, which is difficult to adapt to small cross-section roadway conditions. For example, in patent publication CN219299240U, the drill pipe box is rotated, and the drill pipe is transported perpendicular to the frame, eliminating the need for a transfer device. However, its transport mechanism is too simple, resulting in the drill pipe not being able to be transported into the frame. A more complex loading and unloading mechanism must be added to complete the final transport of the drill pipe. In addition, the limited functionality of its transfer mechanism also means that the drill pipe cannot be directly removed from the drill pipe box, requiring additional auxiliary devices. Therefore, there is a need to provide a drill pipe loading and unloading system with a simpler transport path and faster loading and unloading of drill pipes. Summary of the Invention

[0003] The present invention aims to provide a drill pipe loading and unloading system, which provides a simpler conveying path and faster loading and unloading of drill pipes.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a drill rod loading and unloading system, including a frame and a drill rod box for storing drill rods. The drill rod box includes a base plate and vertical plates disposed at both ends of the base plate. The opposing surfaces of the vertical plates are arrayed with partitions to separate the drill rods. A transfer manipulator for transferring drill rods is disposed on the outer side of the vertical plate near the frame. The transfer manipulator includes a first sliding part, a lifting part, and a gripping unit that can slide relative to the lifting part. A longitudinal opening is provided in the middle of the vertical plate for the gripping unit and the drill rod to pass through. The lifting part is mounted on the first sliding part and can slide laterally relative to the vertical plate. A through hole is provided on the frame opposite to the longitudinal opening for the drill rod to pass through. A flipping manipulator is provided on one side of the through hole to flip the drill rod so that it is coaxial with the active drill rod.

[0005] The beneficial effects of this plan are:

[0006] In this technical solution, a longitudinal opening is provided in the middle of the vertical plate for the clamping unit and drill rod to pass through, allowing both the drill rod and the gripper to pass smoothly through the opening. The frame has a through hole opposite to the longitudinal opening for the drill rod to pass through. A flipping manipulator is provided on one side of the through hole to adjust the angle of the drill rod. The drill rods are arranged in an array on both sides of the drill rod box. The middle of the drill rod box, which is aligned with the longitudinal opening, is left empty. With the above configuration, 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 slides along the longitudinal opening in the middle of the vertical plate, passing one end of the drill rod through the longitudinal opening until it passes through the through hole. Then, the flipping manipulator drives the drill rod to flip and connect it with the frame for installation. This technical solution utilizes a longitudinal opening in the vertical plate for the clamping unit and drill rod to pass through. Combined with perforations in the frame, this eliminates the need for the drill rod to pass through the clamping unit and circumferentially around the drill rod box before docking with the frame from above. Flipping the drill rod would require a higher operating height and more complex docking equipment. Furthermore, inserting the drill rod directly into the perforation through the longitudinal opening and then flipping it ensures consistent insertion position each time and reduces the length of the drill rod loading and unloading system. It eliminates the need to reserve space for the drill rod's length during docking. These design features allow for a smaller loading and unloading system in both length and height, enabling operation in lower-height, smaller-space drilling environments and adapting to more complex conditions such as small-section tunnels. The inclusion of partitions on both sides of the drill rod box, arranged in an array, effectively prevents displacement of the drill rod during storage and transportation, ensuring the stability of the drill rod array.

[0007] Compared to traditional drill pipe conveying devices, this system features a longitudinal opening in the center of the vertical plate, allowing the drill pipe and gripping unit to pass directly through. This enables the drill pipe to pass smoothly and in a straight line through the system without the need for complex multiple transfers or detours. It avoids the need for multiple robotic arms or transfer devices in traditional technologies, significantly simplifying the operation, reducing multiple steps and robotic arm coordination, and improving loading and unloading efficiency. Furthermore, the drill pipe passes directly through the perforation via the longitudinal opening for flipping, making the entire process smoother and avoiding the need for multiple adjustments and complex operations required in traditional devices, ensuring precise docking between the drill pipe and the frame. This device offers greater flexibility and adaptability within the limited downhole working space, reducing the occupation of downhole space resources and facilitating the rational layout of downhole equipment and the smooth operation of the overall process. Simultaneously, this technical solution eliminates the need for transfer devices and significantly simplifies the transfer system and conveying routes.

[0008] Preferably, as an improvement, the first sliding part includes a first slide rail and a first slide block slidably disposed on the first slide rail, and the lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidably disposed 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.

[0009] The beneficial effects are as follows: With the above settings, the lifting unit is installed on the first slide block, and the first slide block can drive the lifting unit to slide laterally along the vertical plate to realize the lateral displacement of the clamping unit, so that the clamping unit can move horizontally on the vertical plate and adjust its horizontal position relative to the drill pipe box. The inner lifting cylinder slides relative to the outer lifting cylinder to realize the height adjustment of the clamping unit, so as to adapt to the drill pipe loading and unloading operations at different height positions and avoid clamping difficulties caused by height differences.

[0010] Preferably, as an improvement, it further includes a second sliding part, which includes a crossbeam, a second slide rail, and a second slide block slidably disposed on the second slide rail. The crossbeam is fixedly disposed at the top of the lifting inner cylinder, the second slide rail is fixedly disposed on the side of the crossbeam, and the clamping unit is fixedly disposed on the second slide block.

[0011] The beneficial effects are as follows: by fixing the clamping unit on the second slide and sliding it along the crossbeam via the second sliding part, the clamping unit can move longitudinally between the drill pipe box and the frame, so that the clamping unit can not only be adjusted vertically (by the lifting cylinder of the lifting part), but also move closer to or further away from the frame in the horizontal direction, thereby achieving precise position adjustment of the drill pipe.

[0012] 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 a second slide. The telescopic cylinder is mounted on the top of the outer sleeve. The output end of the telescopic cylinder is fixedly connected to the inner sleeve. The unit also includes a clamping drive. The gripper is mounted on the inner sleeve via the clamping drive.

[0013] The beneficial effects are as follows: the clamping drive controls the opening and closing of the gripper, enabling the clamping unit to accurately clamp and release the drill rod; the combination of the extensibility of the clamping unit and the clamping drive makes the clamping action of the drill rod more precise, enabling precise clamping of drill rods of different heights, making the loading and unloading process smoother, shortening the operation time, and improving the operation efficiency.

[0014] Preferably, as an improvement, the flipping robot includes a gripper, a fixed base, and a flipping cylinder. The fixed base is fixed on the frame. The gripper includes grippers, a swing cylinder, and a gripper cylinder. The grippers are all hinged to one side of the swing cylinder. The gripper cylinder is located inside the swing cylinder. One end of each gripper is connected to the output end of the gripper cylinder to achieve clamping. The other side of the swing cylinder is hinged to one end of the fixed base. The two ends of the flipping cylinder are respectively hinged to the swing cylinder and the other end of the fixed base. The extension and retraction of the flipping cylinder drives the swing cylinder to swing around the hinge point.

[0015] The beneficial effects are as follows: The tilting cylinder drives the gripper to tilt. When the drill rod is inserted perpendicularly to the frame, the gripper first drives the gripper cylinder to clamp one end of the drill rod. The tilting cylinder shortens its stroke, and the swing cylinder swings 90 degrees around the fixed seat, causing the drill rod to tilt 90 degrees and basically coincide with the drilling axis of the frame for docking and installation. Then, the gripper cylinder is sent to the dry end. After that, the tilting cylinder extends its stroke to reset. Through the above settings, the route is optimized, and the tilting and translation functions are combined, reducing the number of telescopic joints. The combination of tilting and translation functions avoids the need for multiple complex components to work together in traditional systems. Traditional systems may require a separate tilting device and multiple robotic arms to complete the transfer, tilting, and docking of the drill rod. This design simplifies the mechanical structure by using the tilting cylinder to directly drive the swing cylinder to tilt, reducing the number of telescopic joints and related connecting parts, while making the loading and unloading process of the drill rod smoother. The telescopic movement of the tilting cylinder can precisely control the tilting angle of the gripper, ensuring that the drill rod can be accurately tilted from a vertical position to a position parallel to the drilling rig axis, avoiding docking failure or drill rod misalignment caused by inaccurate control.

[0016] Preferably, as an improvement, it also includes a connecting block, the lifting outer cylinder is fixedly engaged with the first slide block by the connecting block, the inner side of the lifting outer cylinder is detachably provided with an inner slide rail, and the outer side of the lifting inner cylinder is fixed with a slider suitable for the inner slide rail, the slider and the inner slide rail slide in cooperation.

[0017] The beneficial effects are as follows: by setting the sliding cooperation of the inner slide rail and the slider as described above, it is ensured that the inner cylinder of the lifting device maintains a stable guide during the lifting process, reducing the offset or sway of the inner cylinder during the lifting process; 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 improve the overall stability of the lifting device.

[0018] Preferably, as an improvement, the inner slide rail has an array of connecting holes, and the inner slide rail is detachably connected to the lifting outer cylinder by bolts.

[0019] The beneficial effects are as follows: the inner slide rail is detachably connected to the lifting outer cylinder by bolts, which allows maintenance personnel to easily disassemble and replace the slide rail when it is worn or damaged; the connection between the inner slide rail and the lifting outer cylinder by bolts ensures a firm fixation between the two.

[0020] 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.

[0021] The beneficial effects are as follows: By symmetrically setting the inner slide rails and sliders, the force on the lifting system can be more evenly distributed. During the lifting process, the connecting force between the inner and outer lifting cylinders is balanced, effectively preventing the system from shifting or deforming due to uneven loading or unbalanced force. The symmetrical configuration of the slide rails and sliders avoids possible skew or shifting 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 severe shifting of the inner lifting cylinder that would shorten the life of the robot arm. It is also beneficial for the drill rod to move downward within the opening of the drill rod box. At the same time, the clamping unit in this technical solution can extend and retract to cooperate with the lifting part for two-stage lifting, which can simultaneously reduce the length of the drilling rig and the height requirement during operation.

[0022] Preferably, as an improvement, the surfaces of the first slide rail and the second slide rail opposite to each other are provided with racks, and a first gear and a second gear are provided to mesh with the racks on the first slide rail and the second slide rail respectively. A first motor is installed on the first slide block to drive the first gear to rotate, and a second motor is installed on the second slide block to drive the second gear to rotate.

[0023] The beneficial effects are as follows: the meshing of the rack and pinion ensures the accuracy of the slide block's movement on the slide rail, reduces motion errors caused by friction or backlash, and the rack and pinion structure provides stronger load-bearing capacity and transmission efficiency, is less prone to displacement, and helps improve the stability and reliability of the entire lifting system.

[0024] Preferably, as an improvement, both the upper and lower sides of the first slide and the second slide are integrally formed with clamping plates, which are used to clamp the outer side of the first slide rail or the second slide for limiting.

[0025] Preferably, as an improvement, when the tilting cylinder extends to its limit length, the length direction of the swing cylinder is parallel to the frame, and when the tilting cylinder shortens to its limit length, the length direction of the swing cylinder is perpendicular to the frame.

[0026] The beneficial effects are: ensuring the correct positioning of the drill pipe and avoiding operational errors.

[0027] Preferably, as an improvement, side plates are also fixed on both sides of the base plate.

[0028] Preferably, as an improvement, multiple observation holes are also provided on the vertical plate. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the installation structure according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the drill pipe box and transfer robot structure according to an embodiment of the present invention;

[0031] Figure 3 This is a cross-sectional view of the lifting outer cylinder according to an embodiment of the present invention;

[0032] Figure 4 This is a top view of the lifting outer cylinder according to an embodiment of the present invention;

[0033] Figure 5 This is a bottom view of the flipping manipulator according to an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the flipping manipulator structure according to an embodiment of the present invention. Detailed Implementation

[0035] The following detailed description illustrates the specific implementation method:

[0036] The reference numerals in the accompanying drawings of the instruction manual include: frame 1, base plate 2, vertical plate 3, partition 4, side plate 5, observation hole 6, longitudinal opening 7, tilting manipulator 8, first slide rail 9, first slide block 10, lifting outer cylinder 11, lifting inner cylinder 12, crossbeam 13, second slide rail 14, second slide block 15, telescopic cylinder 16, telescopic joint 17, gripper 18, clamp 19, fixed seat 20, tilting 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.

[0037] Example

[0038] The implementation examples are basically as follows Figures 1-6 As shown, Figure 1 and Figure 2 The 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 base plate 2 and vertical plates 3 set at both ends of the base plate 2. The opposing surfaces of the vertical plates 3 are arrayed with partitions 4 that separate the drill rods 29. Side plates 5 are also fixed on both sides of the base plate 2. Multiple observation holes 6 are also opened on the vertical plates 3 for observing the number of remaining drill rods 29 between each partition 4. A transfer manipulator for transferring drill rods 29 is set on the outer side of the vertical plates 3 near the frame 1. The transfer manipulator includes a first sliding part, a lifting part, and a gripping unit that can slide relative to the lifting part. The vertical plate 3 has a longitudinal opening 7 in the middle for the gripping unit and the drill rods 29 to pass through. The lifting part is installed on the first sliding part and can slide laterally relative to the vertical plate 3. The frame 1 has a through hole opposite to the longitudinal opening 7 for the drill rods 29 to pass through. A flipping manipulator 8 is provided on one side of the through hole to flip the drill rods 29 so that they are coaxial with the active drill rod.

[0039] In this technical solution, the vertical plate 3 has a longitudinal opening 7 in the middle for the clamping unit and the drill rod 29 to pass through, so that both the drill rod 29 and the gripper 18 can pass through this opening smoothly. The frame 1 has a through hole opposite to the longitudinal opening 7 for the drill rod 29 to pass through. A flipping 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. The middle of the drill rod box, which is aligned with the longitudinal opening 7, is left empty. With the above settings, when clamping the drill rod 29, 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 slides along the longitudinal opening 7 in the middle of the vertical plate 3, passing one end of the drill rod 29 through the longitudinal opening 7 until it passes through the through hole. Then, the flipping manipulator 8 drives the drill rod 29 to flip and connect it with the frame 1 for installation. In this technical solution, a longitudinal opening 7 is made in the vertical plate 3, through which the clamping unit and drill rod 29 pass. Combined with the through hole in the frame 1, this eliminates the need for the drill rod 29 to go around the drill rod box via the clamping unit and approach the frame 1 from above for docking, unlike other existing technologies where flipping would require a higher operating height and more complex docking equipment. Furthermore, by directly inserting the drill rod 29 into the through hole through the longitudinal opening 7 and then flipping it, the consistency of the drill rod 29's insertion position is ensured each time, and the length of the drill rod 29 loading and unloading system is shortened. It eliminates the need to reserve space for the drill rod 29's length for docking insertion. This design allows for a smaller loading and unloading system in both length and height, enabling operation in lower-height, smaller-space drilling environments and adapting to more complex working conditions such as small-section tunnels. The partitions 4 on both sides of the drill rod box, arranged in an array, effectively prevent displacement of the drill rod 29 during storage and transportation, ensuring the stability of the drill rod 29 array.

[0040] Compared to traditional drill pipe 29 conveying devices, this device features a longitudinal opening 7 in the middle of the vertical plate 3, allowing the drill pipe 29 and the clamping unit to pass directly through this opening. This enables the drill pipe 29 to pass smoothly and in a straight line through the system without the need for complex multiple transfers or bypasses. It avoids the need for multiple robotic arms or transfer devices in traditional technologies, greatly simplifying the operation, reducing multiple steps and the coordination of robotic arms, and improving loading and unloading efficiency. Furthermore, the drill pipe 29 passes directly through the perforation via the longitudinal opening 7 for flipping, making the entire process smoother and avoiding the need for multiple adjustments and complex operations required in traditional devices, ensuring the accuracy of the drill pipe 29's docking with the frame 1. This device offers greater flexibility and adaptability within the limited downhole working space, reducing the occupation of downhole space resources and facilitating the rational layout of downhole equipment and the smooth operation of the overall process. Simultaneously, this technical solution eliminates the need for transfer devices and significantly simplifies the transfer system and conveying route.

[0041] The first sliding part includes a first slide rail 9 and a first slide block 10 slidably disposed 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 disposed inside 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 block 10. The first slide block 10 can drive the lifting part to slide laterally along the vertical plate 3 to realize the lateral displacement of the clamping unit, so that the clamping unit can move horizontally on the vertical plate 3 and adjust its horizontal position relative to the drill pipe box. The lifting inner cylinder 12 slides relative to the lifting outer cylinder 11 to realize the height adjustment of the clamping unit, so as to adapt to the loading and unloading operations of the drill pipe 29 at different height positions and avoid clamping difficulties caused by height differences. It also includes a second sliding part, which includes a crossbeam 13, a second slide rail 14, and a second slide block 15 slidably mounted on the second slide rail 14. The crossbeam 13 is fixedly mounted on the top of the lifting inner cylinder 12, the second slide rail 14 is fixed to the side of the crossbeam 13, and the clamping unit is fixed on the second slide block 15. By fixing the clamping unit on the second slide block 15 and sliding it along the crossbeam 13 via the second sliding part, the clamping unit can move longitudinally between the drill pipe box and the frame 1. This allows the clamping unit to not only be vertically adjusted (via the lifting cylinder of the lifting part) but also to move closer to or further away from the frame 1 in the horizontal direction, thereby achieving precise position adjustment of the drill pipe 29.

[0042] like Figure 3 and Figure 4As shown, the inner slide rail 24 has an array of connecting holes, and the inner slide rail 24 is detachably connected to the lifting outer cylinder 11 by bolts. This detachable connection allows maintenance personnel to easily disassemble and replace the slide rail when it wears or is damaged. The bolts also ensure a secure connection between the inner slide rail 24 and the lifting outer cylinder 11. There are two inner slide rails 24 and two sliders; the inner slide rails 24 are symmetrically arranged on both sides of the lifting outer cylinder 11, and the sliders are also symmetrically fixed to the outside of the lifting inner cylinder 12. By symmetrically arranging the inner slide rail 24 and the slider, the force on the lifting system can be more evenly distributed. During the lifting process, the connecting force between the inner lifting cylinder 12 and the outer lifting cylinder 11 is balanced, effectively preventing the system from shifting or deforming due to uneven loading or unbalanced force. The symmetrical slide rail and slider configuration avoids possible skew or shifting 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 inner lifting cylinder 12 from shifting severely and shortening the life of the robot arm. It is also beneficial for the drill rod 29 to move downward within the opening of the drill rod box. At the same time, the clamping unit in this technical solution can extend and retract to cooperate with the lifting part for two-stage lifting, which can simultaneously reduce the length of the drilling machine and the height requirement during operation.

[0043] 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 block 15. The telescopic cylinder 16 is installed on the top of the outer sleeve, and the output end of the telescopic cylinder 16 is fixedly connected to the inner sleeve. 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 telescopic nature of the clamping unit and the combination of the clamping drive component make the clamping action of the drill rod 29 more precise, and can accurately clamp drill rods 29 of different heights, making the loading and unloading process smoother, shortening the operation time, and improving the operation efficiency.

[0044] like Figure 5 and Figure 6As shown, in this embodiment, the flipping robot 8 includes a gripper 19, a fixed base 20, and a flipping cylinder 21. The fixed base 20 is fixed to the frame 1. The gripper 19 includes grippers 19, a swing cylinder 22, and a gripper cylinder. The grippers 19 are all hinged to one side of the swing cylinder 22. The gripper cylinder is located inside the swing cylinder 22. One end of each gripper 19 is connected to the output end of the gripper cylinder to achieve clamping. The other side of the swing cylinder 22 is hinged to one end of the fixed base 20. The two ends of the flipping cylinder 21 are respectively hinged to the swing cylinder 22 and the other end of the fixed base 20. The extension and retraction of the flipping cylinder 21 drives the swing cylinder 22 to swing around the hinge point. When the flipping cylinder 21 extends to its maximum length, the length direction of the swing cylinder 22 is parallel to the frame 1. When the flipping cylinder 21 is shortened to its maximum length, the length direction of the swing cylinder 22 is perpendicular to the frame 1. The tilting cylinder 21 drives the gripper 19 to tilt. When the drill rod 29 is inserted perpendicularly to the frame 1, the gripper 19 first drives the gripper cylinder to clamp one end of the drill rod 29. The tilting cylinder 21 shortens its stroke, and the swing cylinder 22 swings 90 degrees around the fixed base 20, causing the drill rod 29 to tilt 90 degrees and basically coincide with the drilling axis of the frame 1 for docking and installation. Afterward, the tilting cylinder 21 extends its stroke to reset. Through the above settings, the route is optimized, merging the tilting and translation functions and reducing the telescopic joint 17. The merging of the tilting and translation functions avoids the need for multiple complex components to work together in traditional systems. Traditional systems may require a separate tilting device and multiple robotic arms to complete the transfer, tilting, and docking of the drill rod 29. This design simplifies the mechanical structure by using the tilting cylinder 21 to directly drive the swing cylinder 22 to tilt, reducing the telescopic joint 17 and related connecting parts, while making the loading and unloading process of the drill rod 29 smoother. The extension and retraction of the tilting cylinder 21 can precisely control the tilting angle of the gripper 19, ensuring that the drill rod 29 can be accurately tilted from a vertical position to a position parallel to the drilling rig axis, avoiding docking failure or misalignment of the drill rod 29 due to inaccurate control.

[0045] It also includes a connecting block 23. The lifting outer cylinder 11 is fixed to the first slide block 10 by the connecting block 23. The inner side of the lifting outer cylinder 11 is provided with an inner slide rail 24 that can be detached. The outer side of the lifting inner cylinder 12 is fixed with a slider that is compatible with the inner slide rail 24. The slider and the inner slide rail 24 slide together.

[0046] Racks 25 are provided on the opposing surfaces of the first slide rail 9 and the second slide rail 14. A first gear and a second gear mesh with the racks 25 on the first slide rail 9 and the second slide rail 14, respectively. A first motor 26 is mounted on the first slide block 10 to drive the first gear to rotate, and a second motor 27 is mounted on the second slide block 15 to drive the second gear to rotate. The meshing of the racks 25 and gears ensures the precision of the slide block's movement on the slide rails, reducing motion errors caused by friction or backlash. Simultaneously, the rack and pinion structure provides stronger load-bearing capacity and transmission efficiency, is less prone to displacement, and helps improve the stability and reliability of the entire lifting system. Clamping plates 28 are integrally formed on the upper and lower sides of both the first slide block 10 and the second slide block 15. The clamping plates 28 are used to lock the outer side of the first slide rail 9 or the second slide block 15 for limiting its movement.

[0047] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A drill pipe loading and unloading system, characterized in that: The system includes a frame and a drill rod box for storing drill rods. The drill rod box includes a base plate and vertical plates at both ends of the base plate. Dividers for separating drill rods are arrayed on opposite surfaces of the vertical plates. A transfer manipulator for transferring drill rods is located on the outer side of the vertical plates near the frame. The transfer manipulator includes a first sliding part, a lifting part, and a gripping unit that can slide relative to the lifting part. A longitudinal opening is provided in the middle of the vertical plate for the gripping unit and drill rods to pass through. The lifting part is mounted on the first sliding part and can slide laterally relative to the vertical plate. A through hole is provided on the frame opposite the longitudinal opening for the drill rods to pass through. A flipping manipulator is provided on one side of the perforation to flip the drill rod so that it is coaxial with the active drill rod. The flipping manipulator includes a gripper, a fixed base, and a flipping cylinder. The fixed base is fixed on the frame. The gripper includes grippers, a swing cylinder, and a gripper cylinder. The grippers are all hinged to one side of the swing cylinder. The gripper cylinder is set inside the swing cylinder. One end of each gripper is connected to the output end of the gripper cylinder to achieve clamping. The other side of the swing cylinder is hinged to one end of the fixed base. The two ends of the flipping cylinder are respectively hinged to the swing cylinder and the other end of the fixed base. The extension and retraction of the flipping cylinder drives the swing cylinder to swing around the hinge point.

2. The drill pipe loading and unloading system according to claim 1, characterized in that: The first sliding part includes a first slide rail and a first slide block slidably disposed on the first slide rail. The lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidably disposed inside 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 loading and unloading 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 block slidably disposed on the second slide rail. The crossbeam is fixedly disposed at the top of the lifting inner cylinder, the second slide rail is fixedly disposed on the side of the crossbeam, and the clamping unit is fixedly disposed on the second slide block.

4. The drill pipe loading and unloading 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 a second slide. The telescopic cylinder is mounted on the top of the outer sleeve. The output end of the telescopic cylinder is fixedly connected to the inner sleeve. The unit also includes a clamping drive. The gripper is mounted on the inner sleeve via the clamping drive.

5. The drill pipe loading and unloading system according to claim 4, characterized in that: It also includes a connecting block. The lifting outer cylinder is fixed to the first slide block by the connecting block. The inner side of the lifting outer cylinder is provided with an inner slide rail that can be detached. The outer side of the lifting inner cylinder is fixed with a slider suitable for the inner slide rail. The slider slides in cooperation with the inner slide rail.

6. The drill pipe loading and unloading system according to claim 5, characterized in that: The inner slide rail has a series of connection holes, and the inner slide rail can be detachably connected to the lifting outer cylinder by bolts.

7. The drill pipe loading and unloading system according to claim 6, 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.

8. The drill pipe loading and unloading system according to claim 7, characterized in that: The surfaces of the first and second slide rails facing each other are provided with racks, and a first gear and a second gear are provided to mesh with the racks on the first and second slide rails respectively. A first motor is installed on the first slide block to drive the first gear to rotate, and a second motor is installed on the second slide block to drive the second gear to rotate.

9. The drill pipe loading and unloading system according to claim 8, characterized in that: Both the first and second slides have integrally formed retaining plates on their upper and lower sides. These retaining plates are used to lock the outer side of the first or second slide rail for limiting its movement.

10. The drill pipe loading and unloading system according to claim 9, characterized in that: When the tilting cylinder extends to its maximum length, the length direction of the swing cylinder is parallel to the frame; when the tilting cylinder shortens to its maximum length, the length direction of the swing cylinder is perpendicular to the frame.

11. The drill pipe loading and unloading system according to claim 10, characterized in that: Side plates are also fixed on both sides of the base plate.

12. The drill pipe loading and unloading system according to claim 11, characterized in that: There are also multiple observation holes on the vertical plate.

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