Drill rod conveying device

Abstract

The invention relates to the technical field of coal mine drilling machines, and discloses a drill rod conveying device which comprises a drill rod box and a transfer mechanism, the drill rod box is of a box body structure with the upper portion open, a drill rod is perpendicular to a rack, and an opening is formed in the side, close to the rack, of the drill rod box; the transfer mechanism comprises a first moving unit, and the first moving unit is located on the side, close to the rack, of the drill rod box and can slide in the direction perpendicular to the axial direction of the drill rod in the drill rod box; the first moving unit is provided with a lifting unit, and the top of the lifting unit is provided with a second moving unit. The second moving unit is provided with a telescopic grabbing unit used for grabbing the drill rod, and the telescopic grabbing unit and the drill rod can both penetrate through an opening formed in the drill rod box. According to the scheme, the defects that an existing drill rod conveying system has the conveying problem under the large negative dip angle working condition and is single in function are overcome, efficient, stable and convenient conveying of underground coal mine drill rods is achieved, the increasing coal mining technology requirements are met, and the coal mine automatic mining process is promoted.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine drilling machines, and in particular to a drill rod conveying device. Background Art

[0002] In underground coal mining operations, drilling construction is one of the key links, and the performance of the drilling rig has a decisive impact on construction efficiency and quality. With the continuous development of coal mining technology, higher requirements are placed on the automation and work efficiency of drilling rigs. As the core component of the drilling rig, the performance of the drill rod conveying system is crucial.

[0003] At present, most drill rod conveying systems adopt the technical solution disclosed in patent number CN110952972B. In this solution, the drill rods in the drill rod box are placed parallel to the frame, and the drill rods are conveyed by the coordinated operation of the rod conveying manipulator, the drill rod transporter and the main manipulator. However, under the condition of large negative inclination angle, this design has serious defects. The main manipulator will interfere with the crawler vehicle or the drill rod transporter, resulting in the inability to realize the automatic conveyance of the drill rods, which greatly limits its application under complex working conditions and makes it difficult to meet the diverse operation needs of coal mines.

[0004] In order to solve the above problems, patent CN219299240U discloses a drill rod loading and unloading device and a tunnel drilling rig, which transposes the direction of the drill rod box so that the drill rod is set vertically with the frame, and completes the drill rod transportation through the cooperation of the drill rod transportation mechanism and the loading and unloading mechanism. Although this solution overcomes the interference problem of the main manipulator under large negative inclination conditions, new problems arise. Its drill rod transportation mechanism has a single function and cannot directly remove the drill rod from the drill rod box. It must rely on additional auxiliary devices to achieve the complete transportation process of the drill rod. This not only increases the complexity of the system and increases the equipment cost, but also in the actual coal mine underground working environment, the additional auxiliary devices will also occupy limited space, reduce the working efficiency, and cannot efficiently and conveniently meet the actual needs of the coal mine for fast and accurate transportation of drill rods, which seriously restricts the efficient development of underground drilling construction in coal mines under complex working conditions and hinders the further development of coal mine automation mining technology. Summary of the invention

[0005] The present invention aims to provide a drill rod conveying device to solve the conveying problems and single function defects of the existing drill rod conveying system under large negative inclination conditions, to achieve efficient, stable and convenient conveying of drill rods in coal mines, to meet the growing demand for coal mining technology, and to promote the process of automated coal mining.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a drill rod conveying device, including a drill rod box and a transfer mechanism, the drill rod box is a box structure with an upper opening, the drill rod and the frame are arranged vertically, and an opening is opened on the side of the drill rod box adjacent to the frame; the transfer mechanism includes a No. 1 moving unit, the No. 1 moving unit is located on the side of the drill rod box close to the frame, and can slide along the axis perpendicular to the drill rod in the drill rod box; the No. 1 moving unit is equipped with a lifting unit, and the No. 2 moving unit is installed on the top of the lifting unit, the lifting unit can drive the No. 2 moving unit to perform lifting and lowering movements, and the No. 2 moving unit can move along the axial direction of the drill rod in the drill rod box; the No. 2 moving unit is equipped with a telescopic grabbing unit for grabbing the drill rod, and the telescopic grabbing unit and the drill rod can both pass through the opening provided on the drill rod box.

[0007] The beneficial effect of this scheme is: the process of taking out and conveying the drill rod in the drill rod box is as follows:

[0008] (1) Initial setting: A certain number of drill rods are stored in the drill rod box. At this time, the telescopic grabbing unit is located at the upper part of the drill rod box and is in an initial waiting state.

[0009] (2) Positioning and column selection: The telescopic grabbing unit is driven by the No. 1 moving unit to move along the axis perpendicular to the drill rods in the drill rod box, thereby determining the drill rods in a specific column in the drill rod box and preparing for the subsequent grabbing operation.

[0010] (3) Horizontal centering: After the column selection is completed, the telescopic grabbing unit is driven by the No. 2 moving unit to move along the axial direction of the drill rod in the drill rod box until the telescopic grabbing unit reaches the top of the middle position of the drill rod in the drill rod box, ensuring that the grabbing action can be performed at the appropriate lateral position.

[0011] (4) Height adjustment: The lifting unit is then started and combined with the adjustment function of the telescopic grabbing unit, the two work together to gradually adjust the height of the telescopic grabbing unit until it accurately reaches the height value suitable for grabbing the drill rod, creating favorable height conditions for smoothly grabbing the drill rod.

[0012] (5) Grab the drill rod: When the height is adjusted to the right position, control the telescopic grabbing unit to perform the clamping action and firmly grab the drill rod. After that, the height of the telescopic grabbing unit is raised again through the joint adjustment of the lifting unit and the telescopic grabbing unit, so that it rises to the upper position of the drill rod box for the next transfer operation.

[0013] (6) Move to the opening: The No. 1 moving unit is started again, driving the telescopic grabbing unit to move perpendicular to the axial direction of the drill rod, so that the telescopic grabbing unit is accurately positioned above the opening of the drill rod box, preparing for the transfer of the drill rod through the opening.

[0014] (7) Height adaptation: Relying on the joint cooperation of the lifting unit and the telescopic grabbing unit, the height of the telescopic grabbing unit is carefully adjusted so that it and the drill rod it holds are lowered to a specific height that meets the drill rod transportation requirements, ensuring that the drill rod can be moved smoothly and smoothly during the subsequent transportation process.

[0015] (8) Drill rod transportation: The No. 2 mobile unit drives the telescopic grabbing unit to move steadily along the axial direction of the drill rod in the drill rod box in the direction away from the drill rod box, and accurately transports the drill rod to the location of the drilling mechanism, thus completing the drill rod transportation task. After that, the angle of the drill rod is changed with the help of the flip manipulator to keep it parallel to the frame, providing convenient conditions for the subsequent connection operation of the drill rod.

[0016] Compared with the existing technology, this technical solution has the following advantages:

[0017] This technical solution sets the drill rod in the drill rod box vertically to the frame and equips it with a specially designed transfer mechanism. Under complex working conditions with large negative inclination angles, the various units of the transfer mechanism can cooperate flexibly to accurately complete a series of operations such as grabbing, moving and conveying the drill rod, avoiding the situation where the drill rod cannot be conveyed due to interference problems, and effectively ensuring that the drill rod can be conveyed stably and automatically under various complex working conditions, especially under conditions with large negative inclination angles, greatly broadening its scope of application and meeting the diverse working environment requirements underground in coal mines.

[0018] The transfer mechanism of this technical solution integrates multiple functions such as positioning, grabbing, lifting, and moving. Through the coordinated operation of the No. 1 mobile unit, the lifting unit, the No. 2 mobile unit, and the telescopic grabbing unit, it can independently and smoothly complete the entire process of selecting and grabbing drill rods from the drill rod box and transporting them to the drilling mechanism. No additional auxiliary devices are required, which effectively simplifies the system structure, reduces equipment costs, improves space utilization, and effectively guarantees the high efficiency and convenience requirements of underground coal mine operations for fast and accurate transportation of drill rods.

[0019] Due to the ingenious combination of the lifting unit and the telescopic grabbing unit, the coordinated operation of the two can flexibly realize the smooth switching of the telescopic grabbing unit between high and low positions. In complex working conditions such as small-section tunnels, this design effectively reduces the stringent requirements for the height of the work site space, greatly broadening the application scope of the device in special working environments. For example, in some tunnels with limited space height, traditional conveying devices cannot be used due to the large space required for high-low position switching, but this device can successfully complete the drill rod conveying task with this design, ensuring the continuity and efficiency of drilling construction.

[0020] The opening on the drill rod box in this technical solution plays a key role. During the drill rod transportation process, the drill rod can be orderly lowered and moved in the opening of the drill rod box. This innovative design not only effectively reduces the overall length of the drilling rig, but also reduces its height requirement during operation. Compared with the traditional drill rod transportation device, this device is more flexible and adaptable in the limited working space underground, reduces the occupation of underground space resources, and is conducive to the reasonable layout of underground equipment and the smooth progress of the overall operation process.

[0021] Due to the setting of the second moving unit, this technical solution can accurately drive the telescopic grabbing unit to move along the axial direction of the drill rod in the drill rod box, and can ensure that the telescopic grabbing unit is stably clamped at the center or center of gravity of the drill rod regardless of the specifications of the drill rod. In this way, the balance of the drill rod can be effectively maintained during the transportation of the drill rod, avoiding problems such as shaking and deviation of the drill rod caused by uneven force, greatly improving the stability and reliability of the drill rod transportation, and providing precise drill rod positioning conditions for subsequent drilling construction, thereby improving the construction quality.

[0022] In this technical solution, the unique design of the No. 1 mobile unit enables the telescopic grabbing unit to move flexibly along the axis perpendicular to the drill rod in the drill rod box, which greatly facilitates the rapid grabbing of drill rods in different rows in the drill rod box. The operator only needs to control the No. 1 mobile unit to quickly locate the target drill rod row, which significantly improves the efficiency of drill rod selection and grabbing, reduces the preparation time for drill rod transportation, and further improves the work efficiency of the entire drilling construction.

[0023] Preferably, the No. 1 moving unit includes a No. 1 rack guide and a No. 1 power member, a slide seat is slidably arranged on the No. 1 rack guide, the No. 1 power member is used to drive the slide seat to slide on the No. 1 rack guide, and the lifting unit is installed on the slide seat.

[0024] Preferably, the No. 1 rack guide portion includes a No. 1 rack and a No. 1 slide rail, both of which are installed on the side of the drill rod box close to the frame, the rack teeth of the No. 1 rack are arranged toward the side of the No. 1 slide rail, there is a gap between the No. 1 rack and the No. 1 slide rail, and the toothless surface of the No. 1 slide rail and the No. 1 rack together constitute a guide rail for slide installation and movement guidance.

[0025] Preferably, the No. 1 power member is installed on the slide, and the output shaft of the No. 1 power member passes through the slide and is located between the No. 1 rack and the No. 1 slide rail. The No. 1 gear is installed on the output shaft of the power member. The No. 1 gear is meshed with the No. 1 rack to form a gear-rack kinematic pair, driving the slide to slide on the No. 1 rack guide.

[0026] Preferably, the lifting unit includes a lifting outer cylinder, a lifting inner cylinder and a No. 1 driving member, the lifting outer cylinder is installed on a slide seat, the lifting inner cylinder is slidably arranged inside the lifting outer cylinder, the No. 2 mobile unit is installed on the top of the lifting inner cylinder, and the No. 1 driving member can drive the No. 2 mobile unit to lift and lower.

[0027] Preferably, the No. 1 driving member is installed at one end of the lifting outer cylinder away from the No. 2 moving unit, and the output shaft of the No. 1 driving member extends into the interior of the lifting outer cylinder and is fixedly connected to the lifting inner cylinder.

[0028] Preferably, the No. 1 driving member is installed at one end of the lifting outer cylinder away from the No. 2 moving unit, and the output shaft of the No. 1 driving member extends into the interior of the lifting outer cylinder and is fixedly connected to the No. 2 moving unit.

[0029] Preferably, the inner side surface of the lifting outer cylinder is detachably connected with two sets of symmetrically arranged No. 1 inner slide rails, and the outer side surface of the lifting inner cylinder is detachably connected with two sets of symmetrically arranged No. 1 sliders, and the two No. 1 sliders are respectively slidably arranged on the No. 1 inner slide rails. Due to the arrangement of the No. 1 sliders and the No. 1 inner slide rails, this technical solution facilitates the guidance of the lifting inner cylinder during the lifting process of the lifting inner cylinder, preventing it from being offset and shortening its service life, and also improves the stability of the telescopic grabbing unit.

[0030] Preferably, the No. 2 mobile unit includes a crossbeam and a No. 2 power piece, the crossbeam is provided with a No. 2 rack guide portion, a mobile seat is slidably provided on the No. 2 rack guide portion, the No. 2 power piece is used to drive the mobile seat to move on the No. 2 rack guide portion, and the telescopic grabbing unit is installed on the mobile seat.

[0031] Preferably, the No. 2 rack guide portion includes a No. 2 rack and a No. 2 slide rail, both of which are installed on the crossbeam, the rack teeth of the No. 2 rack are arranged toward one side of the No. 2 slide rail, there is a spacing between the No. 2 rack and the No. 2 slide rail, and the toothless surface of the No. 2 slide rail and the No. 2 rack together constitute a guide rail for the installation and movement guidance of the movable seat.

[0032] Preferably, the No. 2 power member is installed on the moving seat, the output shaft of the No. 2 power member passes through the moving seat and is located between the No. 2 rack and the No. 2 slide rail, and the No. 2 gear is installed on the output shaft of the No. 2 power member. The No. 2 gear is meshed with the No. 2 rack to form a gear-rack kinematic pair, driving the moving seat to slide on the No. 2 rack guide.

[0033] Preferably, the telescopic grabbing unit includes a clamping claw, a telescopic joint, a second drive member and a clamping drive member, the telescopic joint is installed on the moving seat, and its length can be extended, the clamping claw is installed at the end of the telescopic joint, the clamping drive member is used to drive the clamping claw to clamp or release the drill rod, and the second drive member is used to drive the clamping claw to rise and fall. Due to the setting of the telescopic joint, this technical solution can effectively reduce the strict requirements on the height of the work site space, greatly broadening the application range of the device in special working environments.

[0034] Preferably, the telescopic joint comprises a telescopic inner cylinder and a telescopic outer cylinder, the telescopic inner cylinder is slidably arranged inside the telescopic outer cylinder, the telescopic outer cylinder is mounted on the moving seat, and the clamping claw is mounted on the bottom of the telescopic inner cylinder.

[0035] Preferably, the inner side surface of the telescopic outer cylinder is detachably connected with two groups of symmetrically arranged No. 2 inner slide rails, and the outer side surface of the telescopic inner cylinder is detachably connected with two groups of symmetrically arranged No. 2 sliders, and the two No. 2 sliders are respectively slidably arranged on the No. 2 inner slide rails.

[0036] Preferably, the second driving member is installed at one end of the telescopic outer cylinder away from the clamping claw, and the output shaft of the second driving member extends into the interior of the telescopic outer cylinder and is fixedly connected to the telescopic inner cylinder.

[0037] Preferably, the second driving member is installed at one end of the telescopic outer cylinder away from the clamping claw, and the output shaft of the second driving member extends into the interior of the telescopic outer cylinder and is fixedly connected to the clamping claw.

[0038] Preferably, the drill rod box includes a bottom plate, a side of the bottom plate close to the frame is fixedly connected to a second vertical plate, and an opening is arranged on the second vertical plate, a bottom plate on the opposite side of the second vertical plate is fixedly connected to a first vertical plate, and the bottom plate is fixedly connected to side plates on both side surfaces adjacent to the second vertical plate.

[0039] Preferably, inside the drill rod box, a plurality of partitions are connected to the first vertical plate and the second vertical plate at intervals matching the drill rod sizes, and a row of drill rods is placed between adjacent partitions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A three-dimensional diagram of a drill rod conveying device according to the present invention;

[0041] Figure 2 It is a structural schematic diagram of the lifting outer cylinder of the present invention;

[0042] Figure 3 It is a top view of the lifting outer cylinder of the present invention. DETAILED DESCRIPTION

[0043] The following is further described in detail through specific implementation methods:

[0044] The figure marks in the drawings of the specification include: bottom plate 1, side plate 2, vertical plate No. 1 3, vertical plate No. 2 4, partition plate 5, power member No. 1 6, slide seat 7, rack No. 1 8, slide rail No. 1 9, lifting outer cylinder 10, lifting inner cylinder 11, driving member No. 1 12, connecting block 13, inner slide rail No. 14, cross beam 15, connecting bar 16, power member No. 2 17, moving seat 18, rack No. 2 19, slide rail No. 20, clamping claw 21, telescopic joint 22, driving member No. 2 23, clamping driving member 24, opening 25.

[0045] Example

[0046] like Figure 1 A drill rod conveying device shown includes a drill rod box and a transfer mechanism.

[0047] like Figure 1 As shown, the drill rod box includes a bottom plate 1, and side plates 2 are welded to the front and rear sides of the bottom plate 1. A first vertical plate 3 is welded to the left side of the bottom plate 1, and a second vertical plate 4 is welded to the right side of the bottom plate 1, and the second vertical plate 4 is located on the side close to the frame. The drill rod box is a box structure with an open top, with the bottom plate 1 as the bottom, two side plates 2 located at the front and back sides respectively, and the first vertical plate 3 and the second vertical plate 4 located at the left and right sides respectively, which together form an internal space for storing drill rods. Inside the drill rod box, a number of partitions 5 are welded to the first vertical plate 3 and the second vertical plate 4 according to the spacing matching the drill rod size, and a row of drill rods is placed between adjacent partitions 5.

[0048] like Figure 1 As shown, the transfer mechanism includes a No. 1 moving unit, a lifting unit, a No. 2 moving unit and a telescopic grabbing unit.

[0049] like Figure 1 As shown, the No. 1 moving unit is located on the right side of the No. 2 vertical plate 4, and can slide along the axis perpendicular to the drill rod in the drill rod box. The No. 1 moving unit includes a No. 1 rack guide and a No. 1 power member 6. A slide 7 is slidably provided on the No. 1 rack guide. The No. 1 power member 6 is used to drive the slide 7 to slide on the No. 1 rack guide. Specifically, the No. 1 rack guide includes a No. 1 rack 8 and a No. 1 slide rail 9. The No. 1 rack 8 is installed on the right side of the No. 2 vertical plate 4 by bolts with the rack teeth facing downward. The No. 1 slide rail 9 is installed on the No. 2 vertical plate 4 below the No. 1 rack 8 by bolts, and there is a gap between the No. 1 rack 8 and the No. 1 slide rail 9. The No. 1 slide rail 9 and the upper side of the No. 1 rack 8 together constitute a guide rail for the slide 7 to be installed and moved. The slide 7 can slide on the guide rail to select drill rods of different columns for grabbing. The No. 1 power member 6 is installed on the right side of the slide 7, and its output shaft passes through the slide 7 and is located between the No. 1 rack 8 and the No. 1 slide rail 9. The No. 1 gear is installed on the output shaft of the power member. The No. 1 gear is meshed with the No. 1 rack 8 to form a gear-rack kinematic pair, driving the slide 7 to slide on the No. 1 rack guide.

[0050] like Figure 1-3As shown, the lifting unit includes a lifting outer cylinder 10, a lifting inner cylinder 11 and a No. 1 driving member 12. Two connecting blocks 13 with clamping grooves are installed on the outer side of the lifting outer cylinder 10 by bolts. The connecting blocks 13 are clamped on the slide seat 7 by the clamping grooves to realize the connection between the lifting outer cylinder 10 and the slide seat 7. Two groups of No. 1 inner slide rails 14 are installed on the inner side of the lifting outer cylinder 10 by bolts. Two groups of No. 1 sliders are installed on the outer side of the lifting inner cylinder 11 by bolts, and the two No. 1 sliders are respectively slidably arranged on the No. 1 inner slide rails 14, so that the lifting inner cylinder 11 can slide inside the lifting outer cylinder 10 and be guided to prevent rotation. The No. 1 driving member 12 is installed at the bottom of the lifting outer cylinder 10 by bolts. The output shaft of the No. 1 driving member 12 extends into the interior of the lifting outer cylinder 10 and is connected to the bottom of the lifting inner cylinder 11 or the No. 2 moving unit by bolts, thereby driving the No. 2 moving unit to rise and fall.

[0051] like Figure 1 As shown, the second moving unit is arranged at the top of the lifting inner cylinder 11 and can move along the axial direction of the drill pipe. Specifically, the second moving unit includes a cross beam 15, a connecting bar 16 and a second power member 17. The connecting bar 16 is L-shaped, and the upper end of the connecting bar 16 is connected to the cross beam 15 by bolts, and the lower end of the connecting bar 16 is connected to the lifting inner cylinder 11 by bolts, thereby realizing the connection between the lifting inner cylinder 11 and the cross beam 15, and the cross beam 15 can be driven to rise and fall by the first driving member 12. A second rack guide portion is provided on the front side of the cross beam 15, and a moving seat 18 is slidably provided on the second rack guide portion. The No. 2 rack guide portion includes a No. 2 rack 19 and a No. 2 slide rail 20. The No. 2 rack 19 is installed on the front side of the beam 15 by bolts with the rack teeth facing downward. The No. 2 slide rail 20 is installed on the beam 15 below the No. 2 rack 19 by bolts, and there is a spacing between the No. 2 rack 19 and the No. 2 slide rail 20. The No. 2 slide rail 20 and the upper side of the No. 2 rack 19 together constitute a guide rail for the installation and movement guidance of the moving seat 18. The No. 2 power member 17 is installed on the front side of the moving seat 18 by bolts. The output shaft of the No. 2 power member 17 passes through the moving seat 18 and is located between the No. 2 rack 19 and the No. 2 slide rail 20. A No. 2 gear is installed on the output shaft of the No. 2 power member 17. The No. 2 gear is meshed with the No. 2 rack 19 to form a gear-rack kinematic pair, which drives the moving seat 18 to slide on the No. 2 rack guide portion. Both the No. 1 power piece 6 and the No. 2 power piece 17 can be hydraulic motors or servo motors. In the present embodiment, both the No. 1 power piece 6 and the No. 2 power piece 17 are hydraulic motors.

[0052] like Figure 1As shown, the telescopic grabbing unit is arranged on the right side of the second moving unit, and the second moving unit can drive it to move along the axial direction of the drill rod, so as to facilitate the stretched and grabbed drill rod to approach or move away from the frame. The lifting unit can drive the telescopic grabbing unit to rise and fall. Specifically, the second moving unit includes a clamping claw 21, a telescopic joint 22, a second driving member 23 and a clamping driving member 24. Specifically, the telescopic joint 22 includes a telescopic inner cylinder and a telescopic outer cylinder. The telescopic outer cylinder is installed on the right side of the moving seat 18 by bolts to realize the connection between the telescopic grabbing unit and the second moving unit. Two sets of symmetrically arranged No. 2 inner slide rails are installed on the inner side of the telescopic outer cylinder by bolts, and two sets of symmetrically arranged No. 2 sliders are installed on the outer side of the telescopic inner cylinder by bolts. The two No. 2 sliders are respectively slidably arranged on the No. 2 inner slide rails, so that the telescopic inner cylinder can slide inside the telescopic outer cylinder. The No. 2 driving member 23 is installed on the top of the telescopic outer cylinder by bolts, and the output shaft of the No. 2 driving member 23 extends into the interior of the telescopic outer cylinder and is connected to the top of the telescopic inner cylinder or the top of the clamping claw 21 by bolts, or the output shaft of the No. 2 driving member 23 is extended into the interior of the telescopic outer cylinder and the telescopic inner cylinder, and is connected to the top of the clamping claw 21 by bolts, so as to drive the clamping claw 21 to move up and down. The clamping claw 21 can realize the clamping and loosening functions under the drive of the clamping driving member 24, and complete the clamping or loosening of the drill rod. It should be noted that the clamping claw 21 can be a clamping mechanism in various forms, and the clamping drive 24 can be various linear or rotating elements. In the present embodiment, the clamping drive 24, the first drive 12 and the second drive 23 are all linear cylinders.

[0053] like Figure 1 As shown, an opening 25 is opened at the center of the second vertical plate 4 , and its size is larger than the size of the drill rod and the telescopic grabbing unit, so that the drill rod and the telescopic grabbing unit can move in the opening 25 .

[0054] The delivery process of drill pipe is as follows:

[0055] (1) Initial setting: A number of drill rods are stored in the drill rod box, and the clamping claw 21 is at the upper part of the drill rod box.

[0056] (2) Positioning and column selection: The No. 1 power member 6 is started, driving the slide 7 to move along the No. 1 rack guide, thereby driving the clamping claw 21 to move synchronously, thereby determining the drill rods of a specific column in the drill rod box.

[0057] (3) Horizontal centering: Then, the second power member 17 starts to operate, driving the moving seat 18 to move along the second rack guide, driving the clamping claw 21 to move synchronously until the clamping claw 21 reaches above the middle position of the drill rod in the drill rod box.

[0058] (4) Height adjustment: Subsequently, the clamping drive 24 controls the clamping claw 21 to loosen, and the height of the clamping claw 21 is adjusted through the coordinated action of the No. 1 drive 12 and the No. 2 drive 23 until it reaches a height value suitable for grabbing the drill rod.

[0059] (5) Grabbing the drill rod: After that, the clamping drive 24 drives the clamping claw 21 again to clamp the drill rod, and then the height of the clamping claw 21 is adjusted by the No. 1 drive 12 and the No. 2 drive 23 so that it rises to the upper position of the drill rod box.

[0060] (6) Move to the opening 25: The first power member 6 drives the slide 7 to move along the first rack guide again, driving the clamping claw 21 to move synchronously, so that the clamping claw 21 is above the opening 25 of the second vertical plate 4.

[0061] (7) Height adaptation: The height of the clamping claw 21 is adjusted by the combined action of the No. 1 driving member 12 and the No. 2 driving member 23, so that the clamping claw 21 and the drill rod clamped by it are lowered to a height that meets the drill rod transportation requirements.

[0062] (8) Delivery to the destination: Finally, the second power member 17 drives the moving seat 18 to move along the second rack guide in the direction away from the drill rod box, driving the clamping claw 21 to move synchronously, and delivers the drill rod to the location of the drilling mechanism. The drill rod delivery is completed. After that, the angle of the drill rod is changed by means of the flip manipulator to keep it parallel to the frame, so as to facilitate the subsequent connection operation of the drill rod.

[0063] The above process is the process of taking out the drill rods from the drill rod box, while the process of putting the drill rods back into the drill rod box is the opposite, which will not be described in detail here.

[0064] The above is only an embodiment of the present invention, and the common sense of the known specific technical solutions and / or characteristics in the scheme is not described too much here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which 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. The above is only an embodiment of the present invention, and the common sense of the known specific technical solutions and / or characteristics in the scheme is not described too much here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which 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 drill rod conveying device, characterized in that: It includes a drill rod box and a transfer mechanism. The drill rod box is a box structure with an upper opening, in which the drill rod and the frame are arranged vertically, and an opening is opened on the side of the drill rod box adjacent to the frame; the transfer mechanism includes a No. 1 moving unit, which is located on the side of the drill rod box close to the frame and can slide along the axis perpendicular to the drill rod in the drill rod box; the No. 1 moving unit is equipped with a lifting unit, and the No. 2 moving unit is installed on the top of the lifting unit. The lifting unit can drive the No. 2 moving unit to lift and lower, and the No. 2 moving unit can move along the axis of the drill rod in the drill rod box; the No. 2 moving unit is equipped with a telescopic grabbing unit for grabbing the drill rod, and the telescopic grabbing unit and the drill rod can pass through the opening provided on the drill rod box.

2. A drill rod conveying device according to claim 1, characterized in that: The No. 1 moving unit includes a No. 1 rack guide part and a No. 1 power piece. A slide seat is slidably arranged on the No. 1 rack guide part. The No. 1 power piece is used to drive the slide seat to slide on the No. 1 rack guide part. The lifting unit is installed on the slide seat.

3. A drill rod conveying device according to claim 2, characterized in that: The No. 1 rack guide part includes a No. 1 rack and a No. 1 slide rail. Both the No. 1 rack and the No. 1 slide rail are installed on the side of the drill rod box close to the frame. The rack teeth of the No. 1 rack are arranged toward the side of the No. 1 slide rail. There is a gap between the No. 1 rack and the No. 1 slide rail. The toothless surface of the No. 1 slide rail and the No. 1 rack together constitute a guide rail for slide installation and movement guidance.

4. A drill rod conveying device according to claim 3, characterized in that: The No. 1 power member is installed on the slide, and the output shaft of the No. 1 power member passes through the slide and is located between the No. 1 rack and the No. 1 slide rail. The No. 1 gear is installed on the output shaft of the power member. The No. 1 gear is meshed with the No. 1 rack to form a gear-rack kinematic pair, driving the slide to slide on the No. 1 rack guide.

5. A drill rod conveying device according to claim 4, characterized in that: The lifting unit includes a lifting outer cylinder, a lifting inner cylinder and a No. 1 driving member. The lifting outer cylinder is installed on a sliding seat. The lifting inner cylinder is slidably arranged inside the lifting outer cylinder. The No. 2 mobile unit is installed on the top of the lifting inner cylinder. The No. 1 driving member can drive the No. 2 mobile unit to lift.

6. A drill rod conveying device according to claim 5, characterized in that: The first driving member is installed at one end of the lifting outer cylinder away from the second moving unit, and the output shaft of the first driving member extends into the interior of the lifting outer cylinder and is fixedly connected with the lifting inner cylinder.

7. A drill rod conveying device according to claim 5, characterized in that: The first driving member is installed at one end of the lifting outer cylinder away from the second moving unit. The output shaft of the first driving member extends into the interior of the lifting outer cylinder and is fixedly connected to the second moving unit.

8. A drill rod conveying device according to any one of claims 6 or 7, characterized in that: The inner side surface of the lifting outer cylinder is detachably connected with two groups of symmetrically arranged No. 1 inner slide rails, and the outer side surface of the lifting inner cylinder is detachably connected with two groups of symmetrically arranged No. 1 sliders, and the two No. 1 sliders are respectively slidably arranged on the No. 1 inner slide rails.

9. A drill rod conveying device according to claim 8, characterized in that: The No. 2 mobile unit includes a crossbeam and a No. 2 power piece. The crossbeam is provided with a No. 2 rack guide portion. A moving seat is slidably provided on the No. 2 rack guide portion. The No. 2 power piece is used to drive the moving seat to move on the No. 2 rack guide portion. The telescopic grabbing unit is installed on the moving seat.

10. A drill rod conveying device according to claim 9, characterized in that: The No. 2 rack guide part includes a No. 2 rack and a No. 2 slide rail. Both the No. 2 rack and the No. 2 slide rail are installed on the crossbeam. The rack teeth of the No. 2 rack are arranged toward one side of the No. 2 slide rail. There is a gap between the No. 2 rack and the No. 2 slide rail. The toothless surfaces of the No. 2 slide rail and the No. 2 rack together constitute a guide rail for the installation and movement guidance of the moving seat.

11. A drill rod conveying device according to claim 10, characterized in that: The No. 2 power component is installed on the moving seat, and the output shaft of the No. 2 power component passes through the moving seat and is located between the No. 2 rack and the No. 2 slide rail. The No. 2 gear is installed on the output shaft of the No. 2 power component, and the No. 2 gear is meshed with the No. 2 rack to form a gear-rack kinematic pair, driving the moving seat to slide on the No. 2 rack guide.

12. A drill rod conveying device according to claim 11, characterized in that: The telescopic grabbing unit includes a clamping claw, a telescopic joint, a No. 2 drive and a clamping drive. The telescopic joint is installed on a moving seat and its length can be telescopic. The clamping claw is installed at the end of the telescopic joint. The clamping drive is used to drive the clamping claw to clamp or release the drill pipe. The No. 2 drive is used to drive the clamping claw to rise and fall.

13. A drill rod conveying device according to claim 12, characterized in that: The telescopic joint comprises a telescopic inner cylinder and a telescopic outer cylinder. The telescopic inner cylinder is slidably arranged inside the telescopic outer cylinder. The telescopic outer cylinder is installed on a moving seat. The clamping claw is installed at the bottom of the telescopic inner cylinder.

14. A drill rod conveying device according to claim 13, characterized in that: The inner side surface of the telescopic outer cylinder is detachably connected with two groups of symmetrically arranged No. 2 inner slide rails, and the outer side surface of the telescopic inner cylinder is detachably connected with two groups of symmetrically arranged No. 2 sliding blocks, and the two No. 2 sliding blocks are respectively slidably arranged on the No. 2 inner slide rails.

15. A drill rod conveying device according to claim 14, characterized in that: The second driving member is installed at one end of the telescopic outer cylinder away from the clamping claw, and the output shaft of the second driving member extends into the interior of the telescopic outer cylinder and is fixedly connected with the telescopic inner cylinder.

16. A drill rod conveying device according to claim 14, characterized in that: The second driving member is installed at one end of the telescopic outer cylinder away from the clamping claw. The output shaft of the second driving member extends into the interior of the telescopic outer cylinder and is fixedly connected with the clamping claw.

17. A drill rod conveying device according to any one of claims 1, 15 or 16, characterized in that: The drill rod box includes a bottom plate, a side of the bottom plate close to the frame is fixedly connected to a second vertical plate, and an opening is arranged on the second vertical plate, a bottom plate opposite to the second vertical plate is fixedly connected to a first vertical plate, and side plates are fixedly connected to the two side surfaces of the bottom plate adjacent to the second vertical plate.

18. A drill rod conveying device according to claim 17, characterized in that: Inside the drill rod box, a number of partitions are connected on the first vertical plate and the second vertical plate according to the spacing matching the drill rod size, and a row of drill rods is placed between adjacent partitions.

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