A mining drilling rig and drill rod loading and unloading method

Abstract

This invention relates to the technical field of drilling rigs, specifically to a mining drilling rig and a method for loading and unloading drill rods. It includes a lifting frame and a drill rod box. The drill rod box has multiple placement slots and a clamping unit. The clamping unit includes a lateral movement component, a lifting component, and a transfer manipulator. The lateral movement component and the lifting component respectively drive the transfer manipulator to move laterally and vertically. The vertical projection of the transfer manipulator is located inside the drill rod box. The transfer manipulator is used to clamp the drill rod and can rotate. The lifting frame includes a lifting sleeve with a through hole for the drill rod to pass through. A tilting manipulator is located on the side of the lifting frame away from the transfer manipulator. The clamping center of the tilting manipulator is opposite to the through hole and is used to rotate the drill rod to the coaxial position of the active drill rod. The mining drilling rig of this invention can reduce the width of the drilling rig.

Description

Technical Field

[0001] This invention relates to the technical field of drilling rigs, specifically to a mining drilling rig and a method for loading and unloading drill rods. Background Technology

[0002] A drilling rig is a drilling device used in the exploration and extraction of coal, natural gas, and other minerals. During operation, drill rods are driven into the ground. Due to limitations in transportation equipment and mine tunnel dimensions, the size of the drill rods is limited. Once a drill rod has fully penetrated the ground, a new drill rod needs to be installed and connected to the one already in the ground, and drilling continues. The speed at which the drill rod is clamped and installed is closely related to the drilling speed of the rig.

[0003] Our company has developed a coal mine drilling rig as shown in application number CN201911185745.9. The drilling rig includes a drilling platform, an automatic loading and unloading system and a drilling host mounted on it, as well as an automatic control system. The automatic loading and unloading system includes a drill rod box, a rod delivery manipulator, a drill rod transfer device, and a main manipulator arranged sequentially along the conveying direction of the drill rods to be clamped. The drill rod box has multiple layers and multiple rows of space to accommodate drill rods. The automatic control system is connected to the automatic loading and unloading system and the drilling host to control the drilling host to automatically drill. By combining the three-stage drill rod conveying method of the automatic loading and unloading system with the arrangement of a large-capacity drill rod box on the drilling platform, drilling efficiency is improved.

[0004] However, in actual use, it was found that the automatic loading and unloading system of the above-mentioned drilling rig has a relatively complex structure, and the three-stage drill rod conveying method makes the drilling rig too wide, making it difficult to enter relatively narrow mine tunnels. Increasing the width of the mine tunnel would damage its strength and cause safety accidents. Increasing the width of the mine tunnel while adding support structures would also increase the cost of drilling and mining. Therefore, in summary, reducing the width of the drilling rig is the most economical and practical solution. Summary of the Invention

[0005] The present invention aims to provide a mining drilling rig and a method for loading and unloading drill rods, so as to reduce the width of the drilling rig.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a mining drilling rig, comprising a lifting frame and a drill rod box, wherein the drill rod box is provided with multiple placement slots and a clamping unit, the clamping unit comprising a lateral movement component, a lifting component and a transfer manipulator, wherein the lateral movement component and the lifting component respectively drive the transfer manipulator to move laterally and vertically, the vertical projection of the transfer manipulator is located inside the drill rod box, and the transfer manipulator is used to clamp the drill rod and can rotate;

[0007] The lifting frame includes a lifting sleeve with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to the coaxial position of the active drill rod.

[0008] The beneficial effects of this plan are:

[0009] The active drill rod refers to the drill rod held in the chuck at the front end of the drilling rig. When the drill rod moves to the active drill rod position, it indicates that the drill rod has been moved to the installation position. At this point, the drill rod can be held in place by the chuck for drilling. In this solution, the drill rod is installed and removed using only a transfer robot and a tilting robot. The through hole and the tilting robot's clamping center are aligned. When the drill rod is coaxial with the through hole, the drill rod can be rotated 90° by the tilting robot to reach the installation position, where it can then be installed using the chuck.

[0010] This solution employs a two-stage clamping and conveying method, significantly simplifying the drill rig's structure and the drill rod's transport route, thus reducing control complexity. When the drill rod is transferred between the two mechanisms (manipulators), the drill rod's axis must first be aligned with the axis of the other manipulator before the other manipulator can clamp the drill rod, while simultaneously controlling the first manipulator to release it. During this process, sensors and other structures are needed to detect the drill rod's position and control the movement of the manipulators, as well as the clamping and releasing actions; therefore, the transfer requires a certain amount of time. Compared to a three-stage drill rod transport method, this solution only requires the drill rod to be transferred between a transfer manipulator and a flipping manipulator, reducing one transfer step and making the installation and disassembly of the drill rod more efficient, effectively improving drilling efficiency.

[0011] Furthermore, the lateral movement component includes a slide block, a lateral power component, and a lateral slide rail. The slide block and the lateral slide rail are slidably engaged. The lateral power component is used to drive the slide block to slide. The lateral slide rail extends along the length of the frame. The lateral power component is a motor. The lateral power component is mounted on the slide block and connected to a lateral gear. A lateral rack is mounted on the slide rail, and the lateral rack meshes with the lateral gear.

[0012] The beneficial effects of this solution are as follows: when the transverse power component drives the gear to rotate, the transverse gear moves along the transverse rack, thereby causing the slide block to slide along the transverse slide rail. Compared with the use of a hydraulic cylinder, the structure of this solution is simpler.

[0013] Furthermore, the transfer manipulator includes a telescopic hydraulic cylinder and a transfer gripper. The piston rod of the outer shell of the telescopic hydraulic cylinder is connected to the longitudinal cantilever and the transfer gripper respectively, and the transfer gripper can rotate relative to the longitudinal cantilever.

[0014] The advantages of this solution are: the telescopic hydraulic cylinder can directly drive the transfer gripper to rotate, without needing to drive the longitudinal cantilever to move vertically, and the control system is simple.

[0015] Furthermore, a drill pipe transmission sensor system is provided, which includes a rotary sensor and a sensing block. The sensing block is disposed on the transfer gripper, and the rotary sensor is opposite to the sensing block and is used to detect whether the transfer gripper rotates at a preset angle.

[0016] The beneficial effects of this solution are as follows: This solution can detect the position of the transfer robot through the drill rod transmission sensor system, so as to realize the automatic removal and placement of the drill rod.

[0017] Furthermore, the drill pipe transfer sensor system also includes an identification sensor and a selection sensor. The identification sensor is located above the transfer gripper and is used to detect whether the gripper is holding a drill pipe after it slides upward. The selection sensor is located on the transverse slide rail and is used to detect the sliding distance of the slide block.

[0018] The beneficial effects of this solution are: the selection of sensors is used to determine the position of the transfer gripper, which makes it easier to align the transfer gripper with the drill pipe.

[0019] Furthermore, the drill pipe transfer sensor system also includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the vertical displacement of the transfer gripper; the lifting sensor is used to measure the vertical displacement of the longitudinal cantilever.

[0020] The beneficial effects of this solution are as follows: when the telescopic cylinder reaches its maximum stroke but still fails to detect the drill rod, the lifting cylinder is then activated to control the horizontal cantilever and the transfer manipulator to slide downwards as a whole. At this time, the telescopic sensor and the lifting sensor are used to determine the position of the transfer gripper.

[0021] Furthermore, the lifting component includes a lifting cylinder and a telescopic component. The lifting cylinder is used to drive the telescopic component to extend and retract. The longitudinal cantilever is connected to the telescopic component and can move vertically under the action of the telescopic component.

[0022] The beneficial effects of this solution are as follows: the height of the transfer gripper is adjusted by a combination of lifting cylinder and telescopic oil hole. Compared with only one lifting drive component, this solution increases the number of drive components, resulting in faster lifting speed. For the same lifting height, the stroke of a single drive component is shorter, and the flexibility is higher. When the telescopic unit crosses the open vertical plate, the minimum height required for the structure used to install the transfer manipulator is also smaller, thereby reducing the movement height of the transfer manipulator and making it more suitable for transferring drill pipes in narrow spaces.

[0023] Furthermore, the flipping manipulator includes a flipping gripper, a fixed base, and a flipping cylinder. The flipping gripper is rotatably connected to the fixed base, and the housing and piston rod of the flipping cylinder are respectively hinged to the flipping gripper and the fixed base and used to pull the flipping gripper to rotate.

[0024] The beneficial effects of this solution are: the drill rod can be automatically flipped to the clamping position of the drill rig's holder by the flipping robot, making the installation of the drill rod quick and convenient.

[0025] Furthermore, the transfer manipulator includes a telescopic hydraulic cylinder and a transfer gripper. The piston rod of the outer shell of the telescopic hydraulic cylinder is connected to the longitudinal cantilever and the transfer gripper respectively, and the transfer gripper can rotate relative to the longitudinal cantilever.

[0026] The advantages of this solution are: the drill rod can be directly driven to rotate by rotating the gripper, and other structures do not need to rotate synchronously. Therefore, there is no need to perform motion control on other structures, making the control system simpler.

[0027] This invention also discloses a drill pipe loading and unloading method, including a drill pipe loading process and a drill pipe unloading process. The drill pipe loading process includes the following steps:

[0028] Step 1, Initialization: Move the drilling rig to the drilling position and ensure that all components are in the initialization state;

[0029] Step 2, Select Column: Determine the position of the drill rod, and slide the transfer robot along the transverse slide rail to the position aligned with the drill rod to be removed;

[0030] Step 3, Grab: Extend the transfer gripper downwards until it grips the drill rod, then move the drill rod to the top of the drill rod box;

[0031] Step 4, straight rotation: Rotate the transfer gripper 90°;

[0032] Step 5, translational transport: Move the drill rod closer to the gripper until the vertical projection of the drill rod's axis is aligned with the gripping center of the flipping manipulator, and then move the drill rod vertically to a position where it can be grasped by the flipping gripper.

[0033] Step 6, Drill pipe handover: Flip the gripper to clamp the drill pipe, and then release the transfer gripper to loosen the drill pipe;

[0034] Step 7, Flip Conveyor: Flip the flipper gripper to the clamping position of the drill pipe holder.

[0035] The drill pipe unloading process includes the following steps:

[0036] Step 8, Drill pipe flip: Flip the flipping gripper to a position close to the chuck and clamp the drill pipe, so that the chuck releases the drill pipe, and flip the flipping gripper to a position away from the chuck;

[0037] Step 9, Align the drill pipe: Rotate the transfer gripper 90° until the gripping axis of the transfer gripper is aligned with the axis of the drill pipe;

[0038] Step 10, Drill pipe transfer: The transfer gripper clamps the drill pipe, then flips the gripper to release the drill pipe;

[0039] Step 11, Drill pipe retrieval: Move the transfer gripper upwards until the drill pipe is higher than the drill pipe box, then rotate it 90° and move the drill pipe above the drill pipe box and align it with an empty placement slot. Control the transfer gripper to extend downwards and place the drill pipe into the empty placement slot. Finally, release the transfer gripper.

[0040] Furthermore, during the drill pipe loading process, the control logic of the drill pipe transmission sensor system is as follows:

[0041] Step 1: Determine the initial values ​​of a and b;

[0042] In step 3, a and b satisfy:

[0043] H1-H2=a1+b1;

[0044] H2 = nd;

[0045] a = a - a1;

[0046] b = b + b1;

[0047] H1 - Height of the top of the drill pipe box;

[0048] n - the number of remaining drill rods to be grabbed in the column;

[0049] d - Drill pipe diameter;

[0050] a1 - The displacement change of the lifting cylinder in step 3;

[0051] b1 - The displacement change of the telescopic cylinder in step 3;

[0052] In step 3, a and b satisfy: a = a + a1 + d; b = b - b1 or a = a + a1; b = b - b1 - d;

[0053] In step 5, when the top of the drill pipe box is higher than the drill pipe on the transfer robot, the transfer robot needs to rise by a displacement Δ, where a and b satisfy:

[0054] Δ = a² + b²;

[0055] a = a + a²;

[0056] b = b - b²;

[0057] a2 - The displacement of the lifting cylinder changes in step 5;

[0058] b2 - The displacement change of the telescopic cylinder in step 5;

[0059] When the top of the drill pipe box is lower than the drill pipe on the transfer robot, the transfer robot needs to descend by a displacement Δ, where a and b satisfy:

[0060] Δ = a² + b²;

[0061] a = a - a²;

[0062] b = b + b²;

[0063] a2 - The displacement of the lifting cylinder changes in step 5;

[0064] b2 - The displacement of the telescopic cylinder in step 5.

[0065] The beneficial effects of this solution are: using displacement sensors to detect the displacement of the transfer robot during its movement improves the accuracy of motion positioning; using two displacement sensors in combination in the telescopic and lifting cylinders meets the needs of height calculation, monitoring and control of the gripper under various working conditions, and the system is simple and reliable. Attached Figure Description

[0066] Figure 1 This is a perspective view of an embodiment of the present invention;

[0067] Figure 2 for Figure 1 3D view of the drill rod box and clamping unit;

[0068] Figure 3 This is a schematic diagram of the sensor installation of the present invention;

[0069] Figure 4 for Figure 2 Top view of the central lifting outer cylinder;

[0070] Figure 5 This is a perspective view of the lifting frame in Embodiment 1 of the present invention;

[0071] Figure 6 This is a perspective view of the flipping manipulator in Embodiment 1 of the present invention;

[0072] Figure 7 for Figure 6 Top view;

[0073] Figure 8 This is a schematic diagram of the measurement of H1 and H2 in this invention. Detailed Implementation

[0074] The following detailed description illustrates the specific implementation method:

[0075] The reference numerals in the accompanying drawings of the instruction manual include: frame 1, gripper 11, drill rod box 2, base plate 21, side plate 22, vertical plate 23, baffle 25, transverse slide rail 3, slide block 31, transverse power component 32, transverse rack 33, selection sensor 34, linear rotation sensor 4, sensing block 41, identification sensor 42, telescopic sensor 43, lifting sensor 44, transfer gripper 5, lifting sleeve 6, through hole 61, sleeve 62, mounting shell 63, telescopic component 7, lifting outer cylinder 71, lifting inner cylinder 72, groove 73, lifting guide rail 74, longitudinal cantilever 75, rotational power component 76, rotary table 8, column 81, lifting cylinder 82, tilting manipulator 9, fixed seat 91, tilting cylinder 92, tilting gripper 93.

[0076] Example

[0077] This invention discloses a mining drilling rig, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the device includes a frame 1. From right to left, a clamp 11, a lifting frame, a clamping unit, and a drill pipe box 2 are arranged on the frame 1. A rotary head and a frame are provided at the right end of the frame 1. The frame is connected to the rotary head, and the clamp 11 is located on the frame. In this embodiment, the clamp 11, rotary head, and frame all adopt existing structures, which will not be described in detail here. The drill pipe box 2 includes a base plate 21, two side plates 22, and two vertical plates 23. The base plate 21 is bolted to the frame 1. The two side plates 22 are located on the front and rear sides of the base plate 21, respectively, and the side plates 22 are U-shaped. The two vertical plates 23 are located on the left and right sides of the base plate 21, respectively. The side plates 22 and the vertical plates 23 are welded and fixed to the base plate 21.

[0078] The drill rod box 2 is provided with multiple partition components along the width direction of the frame 1. The distance between adjacent partition components is greater than the diameter of the drill rod. Each partition component includes two baffles 25, which are welded to two vertical plates 23 respectively. The baffles 25 are vertically arranged and perpendicular to the vertical plates 23. The top of the baffles 25 is at the same height as the top of the vertical plates 23. A placement groove extending along the length direction of the frame 1 is formed between adjacent partition components.

[0079] The clamping unit includes a lateral movement assembly, a longitudinal cantilever 75, a lifting assembly, and a transfer manipulator. The lateral movement assembly includes a slide block 31, a lateral power component 32, and a lateral slide rail 3. The lateral slide rail 3 is bolted laterally to the right side wall of the drill pipe box 2. The slide block 31 is mounted on the slide rail and slides along it, allowing it to slide along the lateral slide rail 3. The lateral power component 32 is a motor connected to a lateral gear. A lateral rack 33 is mounted on the lateral slide rail 3 by screws, extending along the length of the lateral slide rail 3. The lateral gear meshes with the lateral rack 33, so when the lateral power component 32 drives the lateral gear to rotate, the slide block 31 slides along the slide rail.

[0080] The longitudinal cantilever 75 extends along the length of the frame 1 and is located above the drill pipe box 2. The transfer manipulator includes a telescopic cylinder, a transfer gripper 5, and a rotary power component 76. The transfer manipulator is installed at the left end of the longitudinal cantilever 75 and is lower than the longitudinal cantilever 75. Specifically, in this embodiment, the transfer manipulator adopts an existing manipulator with a rotary joint, and the transfer power component is also a motor, so that the rotary power component 76 can drive the transfer gripper 5 to rotate 90°, and the telescopic cylinder drives the transfer gripper 5 to slide vertically.

[0081] The lifting assembly includes a lifting cylinder and a telescopic component 7. The telescopic component 7 includes a lifting outer cylinder 71 and a lifting inner cylinder 72. The top of the lifting inner cylinder 72 is bolted to the right end of the longitudinal cantilever 75, and the bottom of the lifting outer cylinder 71 is bolted to the slide block 31. The lifting inner cylinder 72 is located inside the lifting outer cylinder 71, and its upper end extends above the lifting outer cylinder 71. Two grooves 73 are provided on the inner side of the lifting outer cylinder 71, located on the left and right sides of the lifting inner cylinder 72 respectively, and extending axially along the lifting outer cylinder 71. A lifting guide rail 74 is installed in the groove 73 by screws. A lifting guide block that mates with the lifting guide rail 74 is bolted to the outer wall of the lifting inner cylinder 72, allowing the lifting inner cylinder 72 to slide against the lifting guide rail 74. The lifting guide rail 74 guides the lifting inner cylinder 72 to prevent it from shifting during sliding. The outer casing of the lifting cylinder is bolted to the lower end of the lifting outer cylinder 71. The piston rod of the lifting cylinder faces upward and is connected to the upper end of the lifting inner cylinder 72. The lifting cylinder drives the lifting inner cylinder 72 to slide vertically.

[0082] A drill pipe transmission sensor system is also provided, including a direct rotation sensor 4, a sensing block 41, an identification sensor 42, a selection sensor 34, a telescopic sensor 43, and a lifting sensor 44. The direct rotation sensor 4 is located above the transfer gripper 5 and has a relative rotational position with the transfer gripper 5. The sensing block 41 is made of metal and is welded to the transfer gripper 5. After the transfer gripper 5 rotates, the angle between the rotation center of the direct rotation sensor 4 and the transfer gripper 5 and the rotation center of the sensing block 41 and the transfer gripper 5 is 90°. In this embodiment, the direct rotation sensor 4 is a position sensor, preferably a proximity switch. After the transfer gripper 5 rotates to the position where the sensing block 41 and the direct rotation sensor 4 are opposite, the signal of the direct rotation sensor 4 changes from disconnected to connected.

[0083] The identification sensor 42 is a proximity switch and is located on the transfer manipulator, so that the transfer gripper 5 can determine whether there is a drill rod in the transfer gripper 5 when it approaches the drill rod.

[0084] The selection sensor 34 is a displacement sensor. The selection sensor 34 is installed on the transverse slide rail 3. It determines the moving distance of the transfer robot by detecting the distance of the slide block 31, so as to facilitate the calculation of the position of the transfer robot by the moving distance.

[0085] The telescopic sensor 43 is also a displacement sensor. The telescopic sensor 43 is located at the telescopic joint of the transfer robot to monitor the displacement of the transfer gripper 5 along the vertical movement, so as to determine the position of the transfer gripper 5 and control it to stop moving in time after the transfer gripper 5 moves to the preset position.

[0086] The lifting sensor 44 also employs a displacement sensor. Specifically, in this embodiment, the selection sensor 34, extension sensor 43, and lifting sensor 44 all use magnetostrictive displacement sensors. In this embodiment, the lifting sensor 44 is installed on the outside of the lifting outer cylinder to monitor the displacement of the longitudinal cantilever 75 as it slides vertically, thereby determining the position of the longitudinal cantilever 75. In actual implementation, the lifting sensor 44 can also be installed in the lifting inner cylinder 72 or integrated with the lifting cylinder.

[0087] The lifting frame includes a lifting sleeve 6, a lifting cylinder 82, and two columns 81. The lifting sleeve 6 is vertically positioned, and the distance between the left side wall of the lifting sleeve 6 and the right side wall of the drill pipe box 2 is less than the length of a drill pipe. Sleeves 62 are welded to both ends of the lifting sleeve 6. The columns 81 vertically penetrate the sleeves 62, and the sleeves 62 and columns 81 are fitted with a small clearance, allowing them to slide vertically along the columns 81. A rotary table 8 is mounted on the frame 1. The bottom of the columns 81 is connected to the rotary table 8 with screws to support the lifting sleeve 6. A mounting shell 63 is provided between the sleeves 62 and the lifting sleeve 6. The two ends of the mounting shell 63 are welded and fixed to the sleeves 62 and the lifting sleeve 6, respectively. An inner cavity is provided inside the mounting shell 63, and the lifting cylinder 82 is located within the inner cavity. The outer shell of the lifting cylinder 82 is bolted to the bottom of the columns 81. The piston rod of the lifting cylinder 82 faces upward and is connected to the top of the mounting shell 63, used to drive the mounting shell 63 to slide vertically, thereby causing the lifting sleeve 6 to slide vertically.

[0088] The lifting sleeve 6 is bolted to the frame. A flipping manipulator 9 is provided between the lifting sleeve 6 and the gripper 11. The flipping manipulator 9 is used to drive the drill rod to rotate to the coaxial position of the active drill rod. Specifically, the flipping manipulator 9 includes a flipping cylinder 92, a fixed seat 91, and a flipping gripper 93. The fixed seat 91 is bolted to the frame. In this embodiment, both the transfer gripper 5 and the flipping gripper 93 are existing grippers that can clamp and release the drill rod. The flipping gripper 93 is hinged to the left end of the fixed seat 91, and the outer shell of the flipping cylinder 92 is hinged to the right end of the fixed seat 91. The piston rod of the flipping cylinder 92 faces left and is hinged to the flipping gripper 93. The hinge positions of the flipping gripper 93 and the fixed seat 91, the fixed seat 91 and the flipping cylinder 92, and the flipping cylinder 92 and the flipping gripper 93 are triangularly distributed, so that the flipping cylinder 92 can drive the flipping gripper 93 to swing when it extends and retracts.

[0089] The lifting sleeve 6 is provided with a through hole 61. In this embodiment, the through hole 61 is coaxial with the opening, and the projection of the through hole 61 to the right is located at the clamping center of the flipping gripper 93. This allows the drill rod, which extends along the length of the frame 1, to move to the position relative to the through hole 61, and then rotate along the vertical axis to the position along the width of the frame 1, after which the drill rod rotates to the position of the clamp 11. The diameter of the through hole 61 is larger than the diameter of the drill rod. Specifically, the diameter of the through hole 61 is determined by a combination of the diameter of the drill rod and the relative position of the lifting sleeve 6 and the clamp 11: ensuring that when the flipping gripper 93 clamps the drill rod and flips it towards the side closer to the clamp 11, the end of the drill rod away from the clamp 11 can pass through the through hole 61. In this embodiment, the lifting sleeve 6 is also provided with a clearance groove on the side wall facing the drill rod box 2. The clearance groove is located above the through hole 61 and extends vertically.

[0090] In this embodiment, when the drilling rig removes the drill rod, it first moves the position of the slide block 31 by means of the transverse slide rail 3 and the transverse power component 32, moves the transfer manipulator to the top of the drill rod to be removed, then moves the transfer gripper 5 downward and clamps the drill rod, and then moves the drill rod upward to the top of the drill rod box 2.

[0091] The slide block 31 is slid to the left by the lateral power component 32 until the longitudinal cantilever 75 moves to the left side of the drill rod box 2. Then, the rotary power component 76 is controlled to rotate the drill rod 90° so that the downward projection of the drill rod is coaxial with the through hole 61. Finally, the transfer gripper 5 is controlled to slide downward, moving the drill rod downward to a position coaxial with the through hole 61. The final operation is the same as in Embodiment 1. The drill rod is flipped to the position of the clamp 11 by flipping the gripper 5 to complete the installation of the drill rod.

[0092] When the drill rod needs to be retrieved, after the flipping gripper flips the drill rod to a position close to the drill rod box 2, the transfer gripper 5 is still used to hold the drill rod. Then the drill rod is moved upward to the top of the drill rod box 2, and the drill rod is rotated 90° by the rotation power component 76 so that the drill rod is rotated to a state that extends along the width direction of the frame 1. Then the slide block 31 is slid into the drill rod box 2 by the lateral power component 32 until it is aligned with an empty placement slot. Finally, the transfer gripper 5 is controlled to move downward to put the drill rod into the empty placement slot, thus completing the retrieval of the drill rod.

[0093] Initially, drill pipes are stacked in multiple layers inside the drill pipe box 2. This embodiment also discloses a drill pipe loading and unloading method using the above-mentioned drilling rig, including a drill pipe loading process and a drill pipe unloading process. The drill pipe loading process includes the following steps:

[0094] Step 1, Initialization: Move the drilling rig to the drilling position and ensure that all components are in the initialization state;

[0095] Step 2, Selection: Determine the position of the drill rod to be removed, slide the transfer gripper 5 along the transverse slide rail 3 to the position aligned with the drill rod to be removed. During the sliding, the selection sensor 34 monitors the sliding distance of the slide block 31 to determine the position of the slide block 31. The position of the transfer gripper 5 is determined by the position of the slide block 31. The transfer gripper 5 is moved upward to the top of the drill rod box 2 and then stops moving. Specifically, the transverse power component 32 drives the slide block 31 to move along the length of the frame 1, so that the transfer gripper 5 moves to the top of the middle of the drill rod to be clamped. The lifting cylinder is started, which drives the longitudinal cantilever 75 to slide vertically. When the lifting cylinder is working, the lifting sensor 44 detects the vertical displacement of the longitudinal cantilever 75.

[0096] Step 3, Grabbing: The telescopic hydraulic cylinder extends the transfer gripper 5 downwards until it grips the drill rod, and then moves the drill rod above the drill rod box 2. The telescopic hydraulic cylinder drives the transfer gripper 5 to move vertically. While the telescopic hydraulic cylinder is in operation, the telescopic sensor 43 detects the distance the transfer gripper 5 moves vertically, which is also used to determine the position of the transfer gripper 5. In actual implementation, the telescopic hydraulic cylinder first drives the transfer gripper 5 to slide downwards. The identification sensor 42 detects whether there is a drill rod below the transfer gripper 5. If no drill rod is detected, the transfer gripper 5 continues to slide downwards. When the telescopic hydraulic cylinder reaches its maximum stroke and still no drill rod is detected, the lifting hydraulic cylinder is activated to control the horizontal cantilever and the transfer manipulator to slide downwards as a whole. The movement stops after the identification sensor 42 detects the drill rod. At this time, the drill bit can be gripped by the transfer gripper 5. After gripping the drill rod, the drill rod is moved upwards to above the drill rod box 2.

[0097] Step 4, Direct Rotation: Start the rotation power component 76 to rotate the transfer gripper 5 by 90°; specifically, during the rotation process, the sensing block 41 rotates with the transfer gripper 5 until the transfer gripper 5 rotates 90°, the sensing block 41 is opposite to the direct rotation sensor 4, at this time the direct rotation sensor 4 is connected to the sensing block 41, and the phase difference between the direct rotation sensor 4 and the sensing block 41 changes from 90° to 0, that is, during the rotation process, the direct rotation sensor 4 monitors whether the transfer gripper 5 has rotated to the correct position;

[0098] Step 5, translational transport: Move the drill rod to the side closer to the gripper 11 until the vertical projection of the drill rod axis is aligned with the gripping center of the flipping manipulator 9, and then move the drill rod downward to a position where it can be grasped by the flipping gripper 93.

[0099] Step 6, Drill pipe handover: Flip the gripper 93 to clamp the drill pipe, and let the transfer gripper 5 release the drill pipe;

[0100] Step 7, flipping and conveying: The flipping gripper 93 flips to the clamping position of the drill pipe holder 11. At this time, the flipping cylinder 92 is activated to control the flipping gripper 93 to drive the drill pipe to rotate towards the side closer to the holder 11. At the same time, the transfer gripper 5 moves towards the side closer to the drill pipe box 2 through the cooperation of the transverse power component 32, the telescopic cylinder and the lifting cylinder 82.

[0101] The drill pipe unloading process includes the following steps:

[0102] Step 8, Drill pipe flipping: Flip the flipping gripper 93 to a position close to the chuck 11 and clamp the drill pipe, so that the chuck 11 releases the drill pipe, and flip the flipping gripper 93 to a position away from the chuck 11;

[0103] Step 9, Align the drill pipe: Rotate the transfer gripper 5 by 90° until the clamping axis of the transfer gripper 5 is aligned with the axis of the drill pipe;

[0104] Step 10, Drill pipe transfer: Transfer gripper 5 clamps the drill pipe, flip gripper 93 to release the drill pipe;

[0105] Step 11, Drill rod retrieval: Move the transfer gripper 5 upwards until the drill rod is higher than the drill rod box 2, then rotate it 90° and move the drill rod above the drill rod box 2 and align it with an empty placement slot. Control the transfer gripper 5 to extend downwards and place the drill rod into the empty placement slot. Finally, release the transfer gripper 5.

[0106] In this embodiment, the position of the transfer gripper 5 is determined jointly by the extension sensor 43 and the lifting sensor 44: the gripper position is measured from the drill rod clamping center line, and its lower part is at a height that does not interfere with the drill rod box 2 or the drill rod; upward movement of the gripper is a positive displacement, and downward movement is a negative displacement. The height of the transfer gripper 5 is as follows:

[0107] Step 1, Initialization: Assume that at this point, the lifting sensor 44 measures a displacement of 'a', the telescopic sensor 43 measures a displacement of 'b', and the transfer gripper 5 does not interfere with the drill rod box 2. This is the sensor displacement data for the initial conditions of the transfer robot. Please refer to... Figure 8 At this point, the height of the gripper from the bottom of the drill rod box 2 is the height of the vertical plate 23 of the drill rod box 2, which is set as H1.

[0108] In the above process, the control logic of the drill pipe transmission sensor system is as follows:

[0109] Step 1: Determine the initial values ​​of a and b;

[0110] In step 3, a and b satisfy:

[0111] H1-H2=a1+b1;

[0112] H2 = nd;

[0113] a = a - a1;

[0114] b = b + b1;

[0115] H1 - Height of the top of drill pipe box 2; positions of H1 and H2 are as follows: Figure 8 As shown;

[0116] n - the number of remaining drill rods to be grabbed in the column;

[0117] d - Drill pipe diameter;

[0118] a1 - The displacement change of the lifting cylinder in step 3;

[0119] b1 - The displacement change of the telescopic cylinder in step 3;

[0120] In step 3, a and b satisfy: a = a + a1 + d; b = b - b1 or a = a + a1; b = b - b1 - d;

[0121] In step 5, when the top of the drill pipe box 2 is higher than the drill pipe on the transfer gripper 5, the transfer gripper 5 needs to rise by a displacement Δ, where a and b satisfy:

[0122] Δ = a² + b²;

[0123] a = a + a²;

[0124] b = b - b²;

[0125] a2 - The displacement of the lifting cylinder changes in step 5;

[0126] b2 - The displacement change of the telescopic cylinder in step 5;

[0127] When the top of the drill pipe box 2 is lower than the drill pipe on the transfer gripper 5, the transfer gripper 5 needs to descend by a displacement Δ, where a and b satisfy:

[0128] Δ = a² + b²;

[0129] a = a - a²;

[0130] b = b + b²;

[0131] a2 - The displacement of the lifting cylinder changes in step 5;

[0132] b2 - The displacement of the telescopic cylinder in step 5.

[0133] In this embodiment, the drill pipe transmission sensing system uses a displacement sensor to detect process displacement, improving the accuracy of motion positioning. Both the telescopic cylinder and the lifting cylinder can control the transfer gripper 5 to slide vertically, meeting the needs of different heights, monitoring, and control. The system is simple and reliable.

[0134] 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 method for loading and unloading drill rods for a mining drilling rig, the mining drilling rig including a lifting frame and a drill rod box, wherein the drill rod box is provided with multiple placement slots, characterized in that: A clamping unit is provided, which includes a lateral moving component, a lifting component, and a transfer manipulator. The lateral moving component and the lifting component drive the transfer manipulator to move laterally and vertically, respectively. The vertical projection of the transfer manipulator is located inside the drill pipe box. The transfer manipulator is used to clamp the drill pipe and can rotate. The transfer manipulator includes a transfer gripper. The lifting frame includes a lifting sleeve with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to the coaxial axis of the active drill rod; the flipping manipulator includes a flipping gripper. The method for loading and unloading drill rods for mining drilling rigs includes a drill rod loading process, which includes the following steps: Step 1, Initialization: Move the drilling rig to the drilling position and ensure that all components are in the initialization state; Step 2, Select Column: Determine the position of the drill rod, and slide the transfer robot along the transverse slide rail to the position aligned with the drill rod to be removed; Step 3, Grab: Extend the transfer gripper downwards until it grips the drill rod, then move the drill rod to the top of the drill rod box; Step 4, straight rotation: Rotate the transfer gripper 90°; Step 5, translational transport: Move the drill rod closer to the gripper until the vertical projection of the drill rod's axis is aligned with the gripping center of the flipping manipulator, and then move the drill rod vertically to a position where it can be grasped by the flipping gripper. Step 6, Drill pipe handover: Flip the gripper to clamp the drill pipe, and then release the transfer gripper to loosen the drill pipe; Step 7, Flip Conveyor: Flip the flipper gripper to the clamping position of the drill pipe holder.

2. The method for loading and unloading drill rods for a mining drilling rig according to claim 1, characterized in that: The lateral movement assembly includes a slide block, a lateral power component, and a lateral slide rail. The slide block and the lateral slide rail are slidably engaged. The lateral power component is used to drive the slide block to slide. The lateral slide rail extends along the length of the frame. The lateral power component is a motor. The lateral power component is mounted on the slide block and connected to a lateral gear. A lateral rack is mounted on the slide rail, and the lateral rack meshes with the lateral gear.

3. The method for loading and unloading drill rods for a mining drilling rig according to claim 1, characterized in that: The transfer robot also includes a telescopic cylinder, the piston rod of the outer shell of which is connected to the longitudinal cantilever and the transfer gripper respectively, and the transfer gripper can rotate relative to the longitudinal cantilever.

4. The method for loading and unloading drill rods for a mining drilling rig according to claim 3, characterized in that: A drill pipe transmission sensor system is provided, which includes a rotary sensor and a sensing block. The sensing block is disposed on the transfer gripper, and the rotary sensor is opposite to the sensing block and is used to detect whether the transfer gripper rotates by a preset angle.

5. A method for loading and unloading drill rods for a mining drilling rig according to claim 4, characterized in that: The drill pipe transfer sensor system also includes an identification sensor and a selection sensor. The identification sensor is located above the transfer gripper and is used to detect whether the gripper is holding a drill pipe after it slides upward. The selection sensor is located on the transverse slide rail and is used to detect the sliding distance of the slide block.

6. A method for loading and unloading drill rods for a mining drilling rig according to claim 5, characterized in that: The drill pipe transfer sensor system also includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the vertical displacement of the transfer gripper; the lifting sensor is used to measure the vertical displacement of the longitudinal cantilever.

7. A method for loading and unloading drill rods for a mining drilling rig according to claim 3, characterized in that: The lifting assembly includes a lifting cylinder and a telescopic component. The lifting cylinder is used to drive the telescopic component to extend and retract. The longitudinal cantilever is connected to the telescopic component and can move vertically under the action of the telescopic component.

8. A method for loading and unloading drill rods for a mining drilling rig according to claim 6, characterized in that: The flipping manipulator also includes a fixed base and a flipping cylinder. The flipping gripper is rotatably connected to the fixed base. The outer shell and piston rod of the flipping cylinder are respectively hinged to the flipping gripper and the fixed base and are used to pull the flipping gripper to rotate.

9. A method for loading and unloading drill rods for a mining drilling rig, characterized in that: It also includes a drill pipe unloading process, which comprises the following steps: Step 8, Drill pipe flip: Flip the flipping gripper to a position close to the chuck and clamp the drill pipe, so that the chuck releases the drill pipe, and flip the flipping gripper to a position away from the chuck; Step 9, Align the drill pipe: Rotate the transfer gripper 90° until the gripping axis of the transfer gripper is aligned with the axis of the drill pipe; Step 10, Drill pipe transfer: The transfer gripper clamps the drill pipe, then flips the gripper to release the drill pipe; Step 11, Drill pipe retrieval: Move the transfer gripper upwards until the drill pipe is higher than the drill pipe box, then rotate it 90° and move the drill pipe above the drill pipe box and align it with an empty placement slot. Control the transfer gripper to extend downwards and place the drill pipe into the empty placement slot. Finally, release the transfer gripper.

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