Method for assembling and disassembling drill rod of drilling machine

Abstract

The invention relates to the technical field of drill rod loading and unloading, and discloses a drill rod loading and unloading method for a drilling machine, which comprises a rotary speed reducer, a rotary arm, a turnover device, a clamping device and a drill rod box which are connected in sequence, and further comprises a swing mechanism and a transportation device, the transportation device is arranged at the upper end of the drill rod box, and the swing mechanism is arranged between the turnover device and the clamping device; the rack is provided with a first proximity switch, the rotary arm is provided with a first arc-shaped block and a second arc-shaped block, the support is provided with a second proximity switch and a third proximity switch, the turnover device is provided with a signaling block, and the rotary arm is provided with a receiver. The transporting device is arranged at the upper end of the drill rod box, so that the overall width of the drilling machine is reduced, meanwhile, the swinging device is matched to enable the drill rod clamped by the clamping device to swing into the clamping device above the rack, the moving distance of the drill rod in the axis direction of the rack is reduced, and then the length of the rack is reduced; the drilling machine can work in the environment of a narrow roadway of an underground coal mine, and the applicability of the drilling machine in different environments is improved.

Description

Technical Field

[0001] The invention relates to the technical field of drill rod loading and unloading, and in particular to a method for loading and unloading drill rods by a drilling rig. Background Art

[0002] The drill rod conveying device is an auxiliary device used in coal mine drilling rigs. Its function is to convey the drill rods required for drilling to the drilling rig, or to retrieve the drill rods withdrawn from the construction hole. The drill rods are stored in a drill rod box on the frame. The drill rod loading and unloading manipulator is a device that replaces the manual upper and lower drill rods of the coal mine underground drilling rig. The drill rod loading and unloading manipulator can take out the drill rods in the drill rod box and place them on the transfer trough connected to the drill rod box. The drill rod is then placed in the clamp of the drilling rig through the drill rod loading and unloading manipulator connected to the drilling rig. The device can realize the drill rod loading and unloading functions of different drilling angles through a multi-joint motion component.

[0003] The prior art discloses a positioning device and method for a drill rod loading and unloading manipulator (publication number: CN111042752A), wherein the manipulator is used for loading and unloading drill rods in a drill rod clamp on a frame, the frame is fixedly connected to a frame rotator, the manipulator comprises a swivel arm and a manipulator rotator arranged at its end, the manipulator rotator and the frame rotator are respectively arranged on two sides of a mounting frame. The positioning device comprises a controller and a sensor module connected thereto; the sensor module comprises a synchronous positioning sensor assembly and a horizontal positioning sensor assembly arranged at the end of the manipulator, and an end positioning sensor assembly arranged on the frame; the synchronous positioning sensor assembly is used to determine that the swivel arm of the manipulator is parallel to the axis of the drill rod clamp on the frame; the horizontal positioning sensor assembly is used to determine that the angle between the swivel arm of the manipulator and the horizontal plane is zero; the end positioning sensor assembly is used to detect the installation position of the drill rod to be clamped. The present invention solves the problem of complex positioning system in the prior art by arranging a synchronous positioning sensor assembly and a horizontal positioning sensor assembly at the end of the manipulator and arranging an end positioning sensor assembly on the frame for detecting the installation position of the drill rod to be clamped.

[0004] However, in the prior art (publication number: CN111042752A), the drill rod is first clamped by a clamping device, and then the swivel arm is rotated until it is parallel to the frame, and then the drill rod clamped by the clamping device is located on the upper rear side of the frame by a flipping device, and finally the swivel arm is rotated to make the clamping device place the drill rod in the clamp of the drilling rig. Since the drill rod is finally rotated by the action of the swivel arm, the drill rod makes an arc motion in the axial direction of the frame before being placed, resulting in an increase in the axial distance of the frame on which the drilling rig is installed. In order to meet the demand for drill rod docking, the length of the frame can only be extended, but the longer frame is not suitable for working in the narrow tunnel environment of a coal mine. For this reason, we propose a method for loading and unloading drill rods on a drilling rig to solve the above problems. Summary of the invention

[0005] The present invention aims to provide a method for loading and unloading drill rods of a drilling rig, so as to solve the problem that the existing drilling rig conveying system is not suitable for working in narrow tunnels.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a method for loading and unloading drill rods on a drilling rig, comprising a rotary reducer, a rotary arm, a turning device and a clamping device connected to the side wall of a frame in sequence, and a drill rod box arranged on the frame rotator for loading drill rods, and also comprising a swing mechanism and a transportation device for transporting drill rods, the transportation device is arranged at the upper end of the drill rod box, the transportation device comprises a grabbing mechanism for clamping the drill rod and a displacement mechanism capable of driving the grabbing mechanism to move, the swing mechanism is arranged between the turning device and the clamping device, the side wall of the frame is provided with a first proximity switch for judging whether the clamping device is parallel to the frame, a second proximity switch for judging whether the turning device is parallel to the transfer trough, and a third proximity switch for judging the rotation angle of the rotary arm, a signaling block is arranged on the outer wall of the turning device, and a receiver capable of identifying the signaling block is arranged on the outer wall of the rotary arm, the method for loading and unloading drill rods on a drilling rig comprises a drill rod loading process and a drill rod unloading process, and the drill rod loading process comprises the following steps:

[0007] Step 1, transfer: the displacement mechanism and the grabbing mechanism cooperate with each other to transport the drill rod to be taken from the drill rod box to the upper end of the transfer trough;

[0008] Step 4, flipping: the clamping device clamps the drill rod at the upper end of the transfer trough, and then drives the clamping device to flip in the direction close to the frame through the flipping device, until the signal block on the outer wall of the flipping device rotates to the front end of the receiver, and the flipping device stops rotating;

[0009] Step 5, tilting: the rotary reducer drives the rotary arm to rotate in a direction away from the first proximity switch until the second arc block on the inner wall of the rotary arm moves to the front end of the third proximity switch, and the rotary arm stops rotating;

[0010] Step 6, parallel: the flip device continues to drive the clamping device to rotate in the direction close to the frame, so that the swing device is further close to the frame, and then the rotary reducer drives the rotary arm to rotate in the direction close to the first proximity switch until the swing device contacts the first proximity switch and the rotary arm stops rotating;

[0011] Step 7, swinging: the swing mechanism pushes the clamping device so that the drill rod clamped by the clamping device is swung into the clamp in a posture parallel or nearly parallel to the frame, and then the clamp clamps the drill rod, and the clamp releases the drill rod;

[0012] The drill pipe unloading process includes the following steps:

[0013] Step 8, swinging: the clamping device clamps the drill rod in the clamp, and then the swing mechanism pulls the clamping device to swing the drill rod clamped by the clamping device away from the frame until the clamping device and the flipping device are in the same plane;

[0014] Step 9, tilting: the rotary reducer drives the rotary arm to rotate in a direction away from the first proximity switch until the second arc block on the inner wall of the rotary arm moves to the front end of the third proximity switch, and the rotary arm stops rotating;

[0015] Step 10, adjustment: the flipping device drives the clamping device to rotate in a direction away from the frame until the signal sending block on the outer wall of the flipping device rotates to the front end of the receiver, and the flipping device stops rotating;

[0016] Step 11, vertical: the rotary reducer drives the rotary arm to rotate in a direction close to the first proximity switch until the first arc block on the outer wall of the rotary arm moves to the front end of the second proximity switch, and the rotary arm stops rotating;

[0017] Step 12, flipping: the flipping device drives the clamping device to rotate in a direction away from the frame, and at the same time the transfer trough moves in a direction close to the clamping device until the transfer trough is located below the clamping device, and then the clamping device releases the clamping of the drill rod, so that the drill rod is located above the transfer trough;

[0018] Step 13, transfer: the transfer trough moves in a direction away from the clamping device until it moves to below the grabbing mechanism, and the drill rod to be taken is placed in the drill rod box through the cooperation between the displacement mechanism and the grabbing mechanism.

[0019] The beneficial effects of this program are:

[0020] Although the rotary reducer can directly drive the flip device to rotate parallel to the frame during the rotation process, there is uncertainty in this process. Specifically, since the distance between the second arc block and the third proximity switch for detecting the inclination angle of the rotary arm is smaller than the distance between the clamping device and the rotation axis of the rotary arm, that is, the rotation radius of the former is smaller than the rotation radius of the latter, under the condition of the same rotation arc length error, the smaller the rotation radius, the larger the angle error corresponding to the smaller the rotation radius. Therefore, if the positioning is only based on the third proximity switch for detecting the inclination angle of the rotary arm, the flip device may no longer be parallel to the frame but tilted within the range of the rotation error arc length, affecting the subsequent drill rod connection action. Therefore, the rotary reducer drives the inclination angle of the flip device to increase first and then decrease, which can ensure that the drill rod to be clamped is parallel to the frame.

[0021] By arranging the transport device at the upper end of the drill rod box, the overall width of the drilling rig is reduced. After the rotary reducer drives the flipping device to increase its inclination angle through the rotary arm, the flipping device drives the clamping device to flip. Then, the swing mechanism drives the drill rod to be clamped to swing into the clamp in a state parallel or nearly parallel to the frame. After the swing mechanism drives the clamped drill rod to swing out of the clamp in a state parallel to the frame, the flipping device and the rotary reducer cooperate to drive the clamping device to reset and repeat this process to achieve loading and unloading of the drill rod.

[0022] Compared with the existing manipulators for loading and unloading drill rods, this solution changes the method of placing the drill rod to be clamped in place and then making it parallel to the frame. By setting a swing mechanism, the drill rod to be clamped that is parallel or nearly parallel to the frame in advance is swung into the clamp. The running trajectory of the tail of the drill rod to be clamped in the process of entering the clamp is no longer an arc, and the drill rod to be clamped can be placed in place with a very small distance from the drill bit in the axial direction of the frame, thereby solving the problem of the prior art that the tail of the drill rod to be clamped will interfere with the drill bit in the process of placing the drill rod to be clamped in the clamp, and further solving the problem that there is a large distance between the drill bit and the tail of the drill rod to be clamped after the drill rod to be clamped is put in place.

[0023] Compared with the prior art, after the drill rod to be clamped is placed in place, the distance between the drill bit and the tail of the drill rod to be clamped is reduced by 80mm. The reduction of 80mm shortens the stroke of the drill bit advancement, reduces the design difficulty, and also reduces the length of the frame in the axial direction by 80mm, that is, it is reduced by 80mm in the width direction of the drill rig body, making the structure of the drilling rig more compact and better adaptable to the working environment of narrow tunnels underground in coal mines. At the same time, the frame is less restricted when adjusting the inclination angle.

[0024] Preferably, as an improvement, the flipping device includes a hydraulic motor and a main shaft, the hydraulic motor is arranged at one end of the rotating arm, the main shaft is rotated inside the rotating arm, and the output shaft of the hydraulic motor is connected to one end of the main shaft, the end of the main shaft away from the hydraulic motor is connected to the clamping device, and the output shaft of the hydraulic motor rotates within the range of 0-240°.

[0025] The beneficial effect is: the main shaft is driven to rotate by the hydraulic motor, thereby driving the clamping device connected to the main shaft to rotate, and then flipping the clamping device from one side of the drill rod box to the side of the drilling rig. By limiting the rotation range of the hydraulic motor output shaft, wear or damage to the internal parts of the hydraulic motor caused by excessive rotation can be avoided.

[0026] Preferably, as an improvement, the swing mechanism includes a mounting seat and a swing cylinder, the mounting seat is arranged at the end of the main shaft away from the hydraulic motor, the clamping device is arranged on the inner wall of the mounting seat, the swing cylinder is arranged on the inner wall of the mounting seat, and the output end of the swing cylinder is connected to the clamping device.

[0027] The beneficial effects are as follows: the mounting seat is used to connect the main shaft and the clamping device. The rotation of the main shaft drives the mounting seat to rotate, thereby driving the clamping device to rotate. When the clamping device rotates to be parallel to the frame, the clamping device is swung downward by the swing cylinder, and the drill rod is placed in the clamp, thereby reducing the axial movement of the drill rod along the frame during docking, thereby shortening the axial distance of the frame.

[0028] Preferably, as an improvement, it further comprises a telescopic cylinder, which is arranged in the mounting seat, the clamping device is arranged at the output end of the telescopic cylinder, and the output end of the swing cylinder is connected to the outer wall of the telescopic cylinder.

[0029] The beneficial effects are: by arranging a telescopic cylinder in the mounting seat, the length of the clamping device is shortened, and the clamping device is driven to approach or leave the transfer trough and the drilling rig by the extension and retraction of the telescopic cylinder, and then the telescopic cylinder is driven to swing by the swing cylinder, so that the clamping device is close to the clamp of the drilling rig in a posture parallel to the frame.

[0030] Preferably, as an improvement, the outer wall of the clamping device is provided with a positioning component for determining the extension distance of the clamping device, the positioning component includes a protective cover, a signal rod, a support block, a connecting frame and a first sensor, the protective cover is provided on the outer wall of the telescopic cylinder, the support block is provided on the inner wall of the protective cover, the signal rod is slidably provided in the support block, notches are symmetrically provided on the outer walls at both ends of the signal rod, the connecting frame is provided at one end of the signal rod extending out of the protective cover, the connecting frame is connected to the outer wall of the clamping device, the first sensor is provided on the outer wall of the support block, and the first sensor can identify the position of each notch in the protective cover.

[0031] The beneficial effect is as follows: due to the inertia of the telescopic cylinder when extending or retracting, the pressure of the hydraulic oil exceeds the judgment pressure, so that the telescopic cylinder cannot be extended or retracted into place, and then the clamping device interferes with other components when the next action is performed. For this reason, a positioning component is set on the outer wall of the telescopic cylinder to judge whether the telescopic cylinder is extended or retracted into place, and by opening gaps at both ends of the signal rod, and then cooperating with the first sensor for identification, when the supporting device drives the signal rod to move through the connecting frame, the gap of the signal rod will also move. When the first sensor recognizes the gap of the signal rod, it is judged that the telescopic cylinder is extended or retracted into place, avoiding interference when the next action is performed.

[0032] Preferably, as an improvement, the displacement mechanism includes a guide rail, a slider and a drive motor, the guide rail is arranged at the upper end of the drill rod box, the slider is arranged at the upper end of the guide rail, a rack is arranged on the inner wall of one side of the guide rail, the drive motor is arranged at the end of the slider away from the guide rail, a gear is arranged at one end of the drive motor output end that passes through the slider, and the gear is meshed with the rack, and the grabbing mechanism is arranged on the outer wall of the slider.

[0033] The beneficial effect is: the driving motor provides power for the transport device, and then the gear and rack are engaged to drive the slider to move on the outer wall of the guide rail, thereby driving the grabbing mechanism to move on the upper end of the drill rod box, and then the grabbing mechanism is used to take the drill rod out of the drill rod box.

[0034] Preferably, as an improvement, a displacement sensing component is provided at the end of the guide rail away from the gripping mechanism, the displacement sensing component includes a first position sensor, a protective tube and a moving block, the protective tube is provided at the end of the guide rail away from the clamping structure, the first position sensor is provided at one end of the protective tube, the moving block is provided at the end of the slider away from the gripping mechanism, and the moving block can move in the protective tube, and the first position sensor can sense the position of the moving block on the outer wall of the protective tube.

[0035] The beneficial effects are: the moving block is driven to move in the protective tube by the slider, and then cooperates with the first position sensor to identify the position of the moving block at the upper end of the drill rod box, and then cooperates with the grabbing mechanism to accurately grab the drill rod in the drill rod box. The protective tube is used to protect the moving block and the first position sensor to prevent the external environment from interfering with the coordination between the moving block and the first position sensor.

[0036] Preferably, as an improvement, the grabbing mechanism includes a telescopic member, a second fixed claw, a second movable claw and a second clamping oil cylinder, the telescopic member includes a first sleeve, a second sleeve, a third sleeve, a first oil cylinder and a second oil cylinder, and the openings of the first sleeve and the second sleeve are both toward the drill rod box, the opening of the third sleeve is toward an end away from the drill rod box, the first sleeve is arranged on the outer wall of the slider, the second sleeve is arranged in the first sleeve, the third sleeve is arranged in the second sleeve, the first oil cylinder is arranged on the outer wall of the first sleeve, and the output end of the first oil cylinder is connected to the outer wall of the second sleeve The second oil cylinder is arranged in the third sleeve, and the output end of the second oil cylinder is connected to the inner wall of the second sleeve, the second fixed claw is arranged at the unopened end of the third sleeve, the second movable claw is arranged at one end of the second fixed claw, the second clamping oil cylinder is arranged in the second fixed claw, and the output end of the second clamping oil cylinder is connected to the second movable claw, a second position sensor is arranged on the inner wall of the end of the first sleeve away from the opening, the second position sensor can identify the position of the third sleeve in the first sleeve, and a second sensor which can identify the distance of the drill rod is arranged on the outer wall of the second fixed claw.

[0037] The beneficial effects are as follows: by setting up a secondary cylinder, the length of the grabbing mechanism is further shortened, which facilitates the transportation of the drilling rig; the position of the third sleeve in the first sleeve is identified by the second position sensor, thereby judging the extended distance of the grabbing mechanism, and the drill rod in the drill rod box is grabbed more accurately; the distance between the drill rod in the drill rod box and the grabbing mechanism is identified by the second sensor, thereby grabbing the drill rod more accurately.

[0038] Preferably, as an improvement, a rotating member is provided between the telescopic member and the slider, and the rotating member includes a mounting plate, a rotating shaft and a limit plate. The mounting plate is provided on the outer wall of the telescopic member, the rotating shaft is provided at one end of the mounting plate close to the slider, and the rotating shaft rotates to pass through the slider, and the limit plate is provided at one end of the rotating shaft that passes through the slider.

[0039] The beneficial effect is: by setting a rotating part, the transport device can be rotated, so that the transport device can be laid down when the drilling rig is transported, thereby reducing the height of the drilling rig transportation and increasing the portability of the drilling rig during transportation. The limit plate is used to prevent the transport device from separating from the slider when flipping, causing the transport device to break. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A three-dimensional schematic diagram of a drilling rig according to an embodiment of the present invention;

[0041] Figure 2 A three-dimensional schematic diagram of a flipping device and a clamping device according to an embodiment of the present invention;

[0042] Figure 3 This is a schematic cross-sectional view of the structure of a swivel arm according to an embodiment of the present invention;

[0043] Figure 4 It is a schematic structural diagram of the mounting base in contact with the first proximity switch according to an embodiment of the present invention;

[0044] Figure 5 It is a schematic diagram of the exploded structure of the positioning assembly according to an embodiment of the present invention;

[0045] Figure 6 Schematic diagram of the structure of the second proximity switch and the third proximity switch according to an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of a drill pipe box and a transport device according to an embodiment of the present invention;

[0047] Figure 8 It is a schematic cross-sectional structural diagram of a displacement sensing component according to an embodiment of the present invention;

[0048] Fig. 9 It is a structural schematic diagram of a grabbing mechanism according to an embodiment of the present invention;

[0049] Fig.10 It is a schematic cross-sectional structural diagram of a gripping mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following is further described in detail through specific implementation methods:

[0051] The reference numerals in the drawings of the specification include: slewing reducer 1, slewing arm 2, drill rod box 3, hydraulic motor 4, main shaft 5, positioning sleeve 6, slot 7, limit block 8, first fixed claw 9, first movable claw 10, first clamping cylinder 11, telescopic cylinder 12, protective cover 13, signal rod 14, support block 15, connecting frame 16, first sensor 17, notch 18, mounting seat 19, swing cylinder 20, first proximity switch 21, second proximity switch 22, third proximity switch 23 , the first arc block 25, the second arc block 26, the signal sending block 27, the receiver 28, the guide rail 29, the slider 30, the drive motor 31, the first position sensor 32, the protective tube 33, the moving block 34, the second fixed claw 35, the second movable claw 36, the second clamping cylinder 37, the first sleeve 38, the second sleeve 39, the third sleeve 40, the first cylinder 41, the second cylinder 42, the second position sensor 43, the mounting plate 44, the rotating shaft 45, the second sensor 46, and the transfer trough 47.

[0052] Example

[0053] The embodiment is basically as shown in the attached Figure 1-10 As shown, Figure 1 The drilling rig loading and unloading drill rod method shown in the figure comprises a rotary reducer 1, a rotary arm 2, a flip device and a clamping device which are sequentially connected to the side wall of the frame, the frame is fixedly installed on the upper end of the frame rotary device, and a drill rod box 3 for loading drill rods is installed on the upper end of the frame rotary arm. The drill rod box 3 is provided with a transfer trough 47 on the side close to the drilling rig, and the transfer trough 47 can be moved along the axis direction of the frame, such as Figure 2 The tilting device shown includes a hydraulic motor 4 and a spindle 5. The hydraulic motor 4 is fixedly mounted on the right end of the slewing arm 2. The spindle 5 is rotatably installed through the upper end of the slewing arm 2, and the output shaft of the hydraulic motor 4 is fixedly connected to the spindle 5. The output shaft of the hydraulic motor 4 rotates within the range of 0-240°. A signal block 27 is fixedly mounted on the outer wall of the spindle 5, and a receiver 28 capable of identifying the signal block 27 is fixedly mounted on the lower end of the outer wall of the slewing arm 2. Figure 3A positioning sleeve 6 is fixedly installed inside the swing arm 2 shown. The main shaft 5 is rotatably installed inside the positioning sleeve 6. A clamping groove 7 is formed in the inner wall of the positioning sleeve 6. A limiting block 8 is fixedly installed on the outer wall of the main shaft 5. The limiting block 8 is located inside the clamping groove 7. Through the mutual cooperation of the limiting block 8 and the clamping groove 7, the rotation angle of the main shaft 5 is restricted. A swing mechanism is fixedly installed at the front end of the main shaft 5. The swing mechanism includes a mounting seat 19 and a swing oil cylinder 20. The mounting seat 19 is fixedly installed at the front end of the main shaft 5. The mounting seat 19 is arranged in a U shape. A telescopic oil cylinder 12 is rotatably installed inside the mounting seat 19. The swing oil cylinder 20 is fixedly installed inside the mounting seat 19, and the output end of the swing oil cylinder 20 is fixedly connected to the lower side of the right end of the telescopic oil cylinder 12. A clamping device is fixedly installed at the left end of the telescopic oil cylinder 12. The clamping device includes a first fixed claw 9, a first movable claw 10, and a first clamping oil cylinder 11. The first fixed claw 9 is fixedly installed at the output end of the telescopic oil cylinder 12. The first movable claw 10 rotates at the left end of the first fixed claw 9. The first clamping oil cylinder 11 is fixedly installed on the outer wall of the upper end of the first fixed claw 9, and the output end of the first clamping oil cylinder 11 is fixedly connected to the first movable claw 10.

[0054] As Figure 4 shown, a first proximity switch 21 for judging the parallelism between the clamping device and the frame is fixedly installed on the side wall of the frame. The mounting seat 19 can come into contact with the first proximity switch 21. As Figure 4 shown, a positioning component is provided at the upper end of the telescopic oil cylinder 12. The positioning component includes a protective cover 13, a signal rod 14, a support block 15, a connecting frame 16, and a first sensor 17. The protective cover 13 is fixedly installed on the outer wall of the upper end of the telescopic oil cylinder 12. As Figure 5 shown, the support block 15 is fixedly installed on the inner wall of the rear end of the protective cover 13. The signal rod 14 is slidably installed inside the support block 15. Notches 18 are formed on the outer walls at both ends of the signal rod 14. The connecting frame 16 is hingedly installed at one end of the signal rod 14 extending out of the protective cover 13. The connecting frame 16 is fixedly connected to the outer wall of the first fixed claw 9. The connecting frame 16 is arranged in a U shape, increasing the contact surface between the connecting frame 16 and the first fixed claw 9 and improving the stability of the connection between the connecting frame 16 and the first fixed claw 9. The first sensor 17 is fixedly installed on the outer wall of the support block 15. The first sensor 17 can identify the positions of the respective notches 18 inside the support block 15.

[0055] As Figure 6 shown, a second proximity switch 22 for judging the parallelism between the flipping device and the transfer groove 47 and a third proximity switch 23 for judging the rotation angle of the swing arm 2 are fixedly installed on the outer wall of the bracket close to the drill pipe box 3. And the second proximity switch 22 is located on the right side of the swing arm 2, and the third proximity switch 23 is located at the rotation center of the swing reducer 1. A first arc-shaped block 25 is fixedly installed on the outer wall of the swing arm 2. The second proximity switch 22 can identify the first arc-shaped block 25. A second arc-shaped block 26 is fixedly installed on the inner wall of the swing arm 2. The third proximity switch 23 can identify the second arc-shaped block 26.

[0056] like Figure 7 As shown, the transport device includes a gripping mechanism for clamping the drill rod and a displacement mechanism capable of driving the gripping mechanism to move. The displacement mechanism includes a guide rail 29, a slider 30 and a drive motor 31. The guide rail 29 is fixedly mounted on the upper end of the drill rod box 3. The slider 30 is slidably mounted on the upper end of the guide rail 29. A rack is fixedly mounted on the inner wall of one side of the guide rail 29. The drive motor 31 is fixedly mounted on the upper end of the slider 30. A gear is fixedly mounted on one end of the slider 30 through the output end of the drive motor 31, and the gear is meshed with the rack. The gripping mechanism is fixedly mounted on the front end of the slider 30. Figure 8 As shown, a displacement sensing component is provided at the right end of the guide rail 29, and the displacement sensing component includes a first position sensor 32, a protective tube 33 and a moving block 34. The protective tube 33 is fixedly installed at the right end of the guide rail 29, and the length of the protective tube 33 is equal to the length of the guide rail 29. The first position sensor 32 is fixedly installed at the rear end of the protective tube 33, and the moving block 34 is fixed to the right end of the slider 30. A moving groove is provided at the lower end of the protective tube 33, and one end of the moving block 34 extends into the protective tube 33 through the moving groove. The first position sensor 32 can identify the position of the moving block 34 in the protective tube 33, so that the position of the moving block 34 in the protective tube 33 is equal to the position of the slider 30 above the drill rod box 3, thereby enabling the grabbing mechanism to clamp the drill rod in the drill rod box 3 more accurately.

[0057] like Fig. 9 and Fig.10The grabbing mechanism shown includes a telescopic member, a second fixed claw 35, a second movable claw 36 and a second clamping cylinder 37. The telescopic member includes a first sleeve 38, a second sleeve 39, a third sleeve 40, a first cylinder 41 and a second cylinder 42. The openings of the first sleeve 38 and the second sleeve 39 are both facing the drill rod box 3. The opening of the third sleeve 40 is located at the upper end. The first sleeve 38 is fixedly installed on the outer wall of the slider 30. The second sleeve 39 is slidably installed in the first sleeve 38. The third sleeve 40 is slidably installed in the second sleeve 39. The first cylinder 41 is fixedly installed on the outer wall of the first sleeve 38, and the output end of the first cylinder 41 is connected to the outer wall of the second sleeve 39. The second cylinder 42 is fixedly installed in the third sleeve 40, and the output end of the second cylinder 42 is hinged to the inner wall of the upper end of the second sleeve 39. A second position sensor 43 is fixedly installed on the inner wall of the upper end of the first sleeve 38, and the output end of the second position sensor 43 is fixedly connected to the upper end of the third sleeve 40, so that the second position sensor 43 can identify the position of the third sleeve 40 in the first sleeve 38, the second fixed claw 35 is fixedly installed at the lower end of the third sleeve 40, the second movable claw 36 is hingedly installed at one end of the second fixed claw 35, the second clamping cylinder 37 is rotatably installed in the second fixed claw 35, and the output end of the second clamping cylinder 37 is fixedly connected to the hinge point of the second movable claw 36, so that when the second clamping cylinder 37 is extended, the drill rod is clamped by pushing the second movable claw 36 to rotate in the direction of the second movable claw 36, and the outer wall of the second fixed claw 35 is fixedly installed with a second sensor 46 that can identify the distance of the drill rod.

[0058] A rotating member is provided between the telescopic member and the slider 30, and the rotating member includes a mounting plate 44, a rotating shaft 45 and a limit plate. The mounting plate 44 is fixedly installed on the outer wall of the first sleeve 38, and the rotating shaft 45 is fixedly installed on one end of the mounting plate 44 close to the slider 30. The rotating shaft 45 can rotate in the slider 30, and the rotating shaft 45 rotates through one end of the slider 30 and is fixedly installed with a limit plate. The mounting plate 44 is fixed to the slider 30 by bolts.

[0059] Using the above-mentioned drilling rig, the drilling rig loading and unloading drill rod method includes a drill rod loading process and a drill rod unloading process, and the drill rod loading process includes the following steps:

[0060] Step 1, initialization: move the drilling machine to the drilling position and make sure all components are in the initialization state;

[0061] Step 2, selection: first determine the position of the drill rod to be taken in the drill rod box 3, then drive the slider 30 to move on the upper end of the guide rail 29 through the driving motor 31, and at the same time, the slider 30 drives the moving block 34 to move in the protective tube 33, so that the position of the grabbing mechanism above the drill rod box 3 is obtained through the mutual cooperation between the moving block 34 and the first position sensor 32, so as to accurately move the grabbing mechanism to the top of the drill rod to be taken;

[0062] Step 3, transfer: the gripping mechanism extends into the drill rod box 3. When the second sensor 46 identifies the drill rod in the drill rod box 3, the telescopic member stops extending. At this time, the second clamping cylinder pushes the second movable claw 36 to close to the second fixed claw 35 until the drill rod is clamped. The telescopic member contracts again to move the drill rod to the top of the drill rod box 3. Then the driving motor 31 drives the slider 30 to move toward the transfer trough 47. When the driving motor 31 moves to the end of the guide rail 29, the gripping mechanism moves just above the transfer trough 47. The telescopic member extends again and places the drill rod on the upper end of the transfer trough 47. The transfer trough 47 moves toward the clamping device and moves the drill rod to the bottom of the clamping device.

[0063] Step 4, flipping: the clamping device approaches the drill rod at the upper end of the transfer trough 47 through the telescopic cylinder, and pushes the first movable claw 10 to close to the first fixed claw 9 through the first clamping cylinder 11, thereby clamping the drill rod at the upper end of the transfer trough 47, and then drives the main shaft 5 to flip in the direction close to the frame through the hydraulic motor 4, until the signal block 27 on the outer wall of the main shaft 5 rotates to the front end of the receiver 28 on the outer wall of the slewing arm 2, and the hydraulic motor 4 stops rotating. At this time, the rotation angle of the flipping device is 150°, and the slewing arm 2, the flipping device and the clamping device are all located in the same plane;

[0064] Step 5, tilting: the rotary reducer 1 drives the rotary arm 2 to rotate in a direction away from the first proximity switch 21 until the second arc block 26 on the inner wall of the rotary arm 2 moves to the front end of the third proximity switch 23, and the rotary arm 2 stops rotating. At this time, the angle between the turning device and the transfer slot 47 is greater than the angle between the frame and the transfer slot 47, so as to avoid interference between the clamping device and other components during the subsequent turning process;

[0065] Step 6, parallel: the hydraulic motor 4 continues to drive the main shaft 5 to rotate in the direction close to the frame. When the main shaft 5 rotates 90°, it stops rotating. At this time, the limit block 8 on the outer wall of the main shaft 5 abuts against the card groove 7 on the inner wall of the positioning sleeve 6, thereby preventing the main shaft 5 from continuing to rotate. Then the rotary reducer 1 drives the rotary arm 2 to rotate in the direction close to the first proximity switch 21 until the lower end of the mounting seat 19 contacts the first proximity switch 21, and the rotary arm 2 stops rotating. At this time, the clamping device is parallel to the frame, and the drill rod clamped by the clamping device is located above the drilling rig clamp;

[0066] Step 7, swinging: the first fixed claw 9 and the first movable claw 10 are pushed by the telescopic cylinder 12 so that the drill rod clamped by them is located above the clamper, and in this process, the movement of the first fixed claw 9 drives the connection block to move, so that the connection block pulls the signal rod 14, and when the signal rod 14 moves away from the notch 18 at one end of the connection block to the support block 15, the first sensor 17 recognizes the notch 18, thereby stopping the extension of the telescopic cylinder 12, ensuring that the telescopic cylinder 12 is extended in place, avoiding the clamped drill rod from interfering with other components in the subsequent process, and then pushing the telescopic cylinder 12 by the swing cylinder 20, so that the drill rod clamped by the clamping device is swung into the clamper in a posture parallel or nearly parallel to the frame, and then the clamper clamps the drill rod, and the first clamping cylinder 11 contracts, so that the first movable claw 10 rotates in a direction away from the first fixed claw 9, thereby releasing the drill rod;

[0067] The drill pipe unloading process includes the following steps:

[0068] Step 8, swinging: the first clamping cylinder 11 pushes the first movable claw 10 to rotate toward the first fixed claw 9, thereby clamping the drill rod in the clamp, and then the clamp releases the clamping of the drill rod, and then the swing cylinder 20 contracts, so that the drill rod clamped by the clamping device swings in the direction away from the frame, until the clamping device and the flipping device are located in the same plane, so that the drill rod leaves the clamp, and then the telescopic cylinder 12 contracts, thereby shortening the length of the clamping device. In this process, the movement of the first fixed claw 9 drives the connection block to move, so that the connection block pushes the signal rod 14. When the signal rod 14 moves into the support block 15 near the notch 18 at one end of the connection block, the first sensor 17 recognizes the notch 18, thereby stopping the contraction of the telescopic cylinder 12, ensuring that the telescopic cylinder 12 is contracted in place, and avoiding the clamped drill rod from interfering with other components in the subsequent process;

[0069] Step 9, tilting: the rotary reducer 1 drives the rotary arm 2 to rotate in a direction away from the first proximity switch 21 until the second arc block 26 on the inner wall of the rotary arm 2 moves to the front end of the third proximity switch 23, and the rotary arm 2 stops rotating. At this time, the angle between the turning device and the transfer slot 47 is greater than the angle between the frame and the transfer slot 47;

[0070] Step 10, adjustment: the hydraulic motor 4 drives the main shaft 5 to rotate in a direction away from the frame until the signal block 27 on the outer wall of the turning device rotates to the front end of the receiver 28, and the hydraulic motor 4 stops rotating. At this time, the rotation angle of the clamping device is 90°, so that the slewing arm 2, the turning device and the clamping device are all located in the same plane;

[0071] Step 11, vertical: the rotary reducer 1 drives the rotary arm 2 to rotate in the direction close to the first proximity switch 21 until the first arc block 25 on the outer wall of the rotary arm 2 moves to the front end of the second proximity switch 22, and the rotary arm 2 stops rotating. At this time, the rotary arm 2 is perpendicular to the transfer slot 47;

[0072] Step 12, flipping: the flipping device drives the clamping device to rotate 150° in the direction away from the frame and then stops rotating. At this time, the limit block 8 on the outer wall of the main shaft 5 abuts against the card slot 7 on the inner wall of the positioning sleeve 6, thereby preventing the main shaft 5 from continuing to rotate. At the same time, the transfer groove 47 moves toward the clamping device until the transfer groove 47 is located in front of the clamping device. Then the telescopic cylinder 12 is extended to make the drill rod located directly above the transfer groove 47. Then the first clamping cylinder 11 is contracted to make the first movable claw 10 rotate in the direction away from the first fixed claw 9, thereby releasing the clamping of the drill rod, so that the drill rod is located above the transfer groove 47.

[0073] Step 13, transfer: the transfer trough 47 moves in the direction away from the clamping device until it moves to the bottom of the grabbing mechanism, the telescopic part extends toward the transfer trough 47, and pushes the second movable claw 36 to clamp the drill rod by the second clamping cylinder 37 to move closer to the second fixed claw 35, and then the telescopic part contracts to drive the drill rod to the top of the drill rod box 3, and then the driving motor 31 rotates to drive the slider 30 to move into the drill rod box 3, and the position of the grabbing mechanism above the drill rod box 3 is determined by the position of the moving block 34 in the protective tube 33, and then the drill rod is placed in the drill rod box 3 by extending the retractable part.

[0074] In the above process, the drill rod clamped by the clamping device is swung into the clamper through the swinging device in a posture parallel to the frame, which reduces the range of movement of the drill rod in the axial direction of the frame during transportation, thereby shortening the length of the frame, making the drilling rig more conducive to operation in narrow tunnels and improving the applicability of the drilling rig.

[0075] 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. A method for loading and unloading drill rods on a drilling rig, comprising a rotary reducer, a rotary arm, a flip device and a clamping device connected to the side wall of a frame in sequence, and a drill rod box arranged on the frame rotary device for loading drill rods, characterized in that: The utility model also includes a swing mechanism and a transport device for transporting drill rods, the transport device is arranged at the upper end of the drill rod box, the transport device includes a gripping mechanism for clamping the drill rod and a displacement mechanism capable of driving the gripping mechanism to move, the swing mechanism is arranged between the flipping device and the clamping device, the side wall of the frame is provided with a first proximity switch for judging whether the clamping device is parallel to the frame, a second proximity switch for judging whether the flipping device is parallel to the transfer trough, and a third proximity switch for judging the rotation angle of the slewing arm, the outer wall of the flipping device is provided with a signaling block, the outer wall of the slewing arm is provided with a receiver capable of identifying the signaling block, the method for loading and unloading drill rods of the drilling rig includes a process of loading and unloading drill rods, and the process of loading and unloading drill rods includes the following steps: Step 1, transfer: the displacement mechanism and the grabbing mechanism cooperate with each other to transport the drill rod to be taken from the drill rod box to the upper end of the transfer trough; Step 4, flipping: the clamping device clamps the drill rod at the upper end of the transfer trough, and then drives the clamping device to flip in the direction close to the frame through the flipping device, until the signal block on the outer wall of the flipping device rotates to the front end of the receiver, and the flipping device stops rotating; Step 5, tilting: the rotary reducer drives the rotary arm to rotate in a direction away from the first proximity switch until the second arc block on the inner wall of the rotary arm moves to the front end of the third proximity switch, and the rotary arm stops rotating; Step 6, parallel: the flip device continues to drive the clamping device to rotate in the direction close to the frame, so that the swing device is further close to the frame, and then the rotary reducer drives the rotary arm to rotate in the direction close to the first proximity switch until the swing device contacts the first proximity switch and the rotary arm stops rotating; Step 7, swinging: The swinging mechanism pushes the clamping device so that the drill rod clamped by the clamping device is swung into the clamp in a posture parallel or nearly parallel to the frame, and then the clamp clamps the drill rod, and the clamp releases the drill rod.

2. The method for loading and unloading drill pipes of a drilling rig according to claim 1, characterized in that: The drill pipe unloading process includes the following steps: Step 8, swinging: the clamping device clamps the drill rod in the clamp, and then the swing mechanism pulls the clamping device to swing the drill rod clamped by the clamping device away from the frame until the clamping device and the flipping device are in the same plane; Step 9, tilting: the rotary reducer drives the rotary arm to rotate in a direction away from the first proximity switch until the second arc block on the inner wall of the rotary arm moves to the front end of the third proximity switch, and the rotary arm stops rotating; Step 10, adjustment: the flipping device drives the clamping device to rotate in a direction away from the frame until the signal sending block on the outer wall of the flipping device rotates to the front end of the receiver, and the flipping device stops rotating; Step 11, vertical: the rotary reducer drives the rotary arm to rotate in a direction close to the first proximity switch until the first arc block on the outer wall of the rotary arm moves to the front end of the second proximity switch, and the rotary arm stops rotating; Step 12, flipping: the flipping device drives the clamping device to rotate in a direction away from the frame, and at the same time the transfer trough moves in a direction close to the clamping device until the transfer trough is located below the clamping device, and then the clamping device releases the clamping of the drill rod, so that the drill rod is located above the transfer trough; Step 13, transfer: the transfer trough moves in a direction away from the clamping device until it moves to below the grabbing mechanism, and the drill rod to be taken is placed in the drill rod box through the cooperation between the displacement mechanism and the grabbing mechanism.

3. The method for loading and unloading drill pipes of a drilling rig according to claim 2, characterized in that: The turning device includes a hydraulic motor and a main shaft. The hydraulic motor is arranged at one end of the rotating arm. The main shaft rotates inside the rotating arm. The output shaft of the hydraulic motor is connected to one end of the main shaft. The end of the main shaft away from the hydraulic motor is connected to the clamping device. The output shaft of the hydraulic motor rotates within the range of 0-240°.

4. The method for loading and unloading drill pipes of a drilling rig according to claim 3, characterized in that: The swing mechanism includes a mounting seat and a swing cylinder. The mounting seat is arranged at one end of the main shaft away from the hydraulic motor. The clamping device is arranged on the inner wall of the mounting seat. The swing cylinder is arranged on the inner wall of the mounting seat, and the output end of the swing cylinder is connected to the clamping device.

5. The method for loading and unloading drill pipes of a drilling rig according to claim 4, characterized in that: It also includes a telescopic oil cylinder, which is arranged in a mounting seat, a clamping device is arranged at the output end of the telescopic oil cylinder, and the output end of the swing oil cylinder is connected to the outer wall of the telescopic oil cylinder.

6. The method for loading and unloading drill pipes of a drilling rig according to claim 5, characterized in that: The outer wall of the clamping device is provided with a positioning component for judging the extension distance of the clamping device. The positioning component includes a protective cover, a signal rod, a support block, a connecting frame and a first sensor. The protective cover is provided on the outer wall of the telescopic cylinder, the support block is provided on the inner wall of the protective cover, the signal rod is slidably provided in the support block, and notches are symmetrically provided on the outer walls at both ends of the signal rod. The connecting frame is provided at one end of the signal rod extending out of the protective cover, the connecting frame is connected to the outer wall of the clamping device, and the first sensor is provided on the outer wall of the support block. The first sensor can identify the position of each notch in the protective cover.

7. The method for loading and unloading drill pipes of a drilling rig according to claim 6, characterized in that: The displacement mechanism includes a guide rail, a slider and a drive motor. The guide rail is arranged at the upper end of the drill rod box, the slider is arranged at the upper end of the guide rail, a rack is arranged on the inner wall of one side of the guide rail, the drive motor is arranged at the end of the slider away from the guide rail, a gear is arranged at one end of the output end of the drive motor that passes through the slider, and the gear is meshed with the rack, and the grabbing mechanism is arranged on the outer wall of the slider.

8. The method for loading and unloading drill pipes of a drilling rig according to claim 7, characterized in that: A displacement sensing component is provided at one end of the guide rail away from the gripping mechanism, and the displacement sensing component includes a first position sensor, a protective tube and a moving block. The protective tube is provided at one end of the guide rail away from the clamping structure, the first position sensor is provided at one end of the protective tube, the moving block is provided at one end of the slider away from the gripping mechanism, and the moving block can move in the protective tube, and the first position sensor can sense the position of the moving block on the outer wall of the protective tube.

9. The method for loading and unloading drill pipes of a drilling rig according to claim 8, characterized in that: The grabbing mechanism includes a telescopic member, a second fixed claw, a second movable claw and a second clamping oil cylinder. The telescopic member includes a first sleeve, a second sleeve, a third sleeve, a first oil cylinder and a second oil cylinder. The openings of the first sleeve and the second sleeve are both facing the drill rod box, and the opening of the third sleeve is facing the end away from the drill rod box. The first sleeve is arranged on the outer wall of the slider, the second sleeve is arranged in the first sleeve, and the third sleeve is arranged in the second sleeve. The first oil cylinder is arranged on the outer wall of the first sleeve, and the output end of the first oil cylinder is connected to the outer wall of the second sleeve. The second oil cylinder is arranged in the third sleeve, and the output end of the second oil cylinder is connected to the inner wall of the second sleeve. The second fixed claw is arranged at the unopened end of the third sleeve, the second movable claw is arranged at one end of the second fixed claw, the second clamping oil cylinder is arranged in the second fixed claw, and the output end of the second clamping oil cylinder is connected to the second movable claw. A second position sensor is arranged on the inner wall of the end of the first sleeve away from the opening, and the second position sensor can identify the position of the third sleeve in the first sleeve. The outer wall of the second fixed claw is provided with a second sensor that can identify the distance of the drill rod.

10. The method for loading and unloading drill pipes of a drilling rig according to claim 9, characterized in that: A rotating part is provided between the telescopic part and the slider, and the rotating part includes a mounting plate, a rotating shaft and a limit plate. The mounting plate is provided on the outer wall of the telescopic part, the rotating shaft is provided on one end of the mounting plate close to the slider, and the rotating shaft rotates to pass through the slider, and the limit plate is provided on one end of the rotating shaft passing through the slider.

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