Drill rod conveying system suitable for full-section drilling

Abstract

The invention relates to a drill rod conveying system suitable for full-section drilling, and belongs to the technical field of mining drilling machines. Comprising a main manipulator, an auxiliary manipulator and a transfer mechanism, the main manipulator comprises a main rotating joint, a main telescopic joint and a main clamping jaw assembly; the main rotating joint comprises a rotating seat and a rotating driver, the rotating driver is arranged at one end of the rotating seat and drives the main rotating shaft to rotate, and the main rotating shaft penetrates through the rotating seat and is connected with the main telescopic joint; and the rotation sensor is arranged on the main rotation joint. The transferring mechanism comprises a transferring device, a rack and a rotating platform, and the transferring device is arranged between the rack and the rotating platform through an asynchronous rotating device. According to the invention, the flexibility suitable for the arrangement of a drill rod conveying system is improved, the range of the inclination angle of the drilling hole of the drilling machine is expanded, the working efficiency and safety are improved, and the drilling machine adapts to improvements in the aspects of complex underground environments and the like, and remarkable technical progress and application value are brought to the technical field of mining drilling machines.

Description

Technical Field

[0001] The invention belongs to the technical field of mining drills and relates to a drill rod conveying system suitable for full-section drilling. Background Art

[0002] As intelligent coal mining strategies are being promoted, drilling rig automation has become a key enabler for achieving reduced- and even unmanned underground operations. The complex underground environment in coal mines is rife with potential hazards such as gas and coal dust. Furthermore, the confined space, high humidity, and high temperatures present significant challenges for traditional manual operation. Workers endure significant physical and mental strain and accumulated fatigue during long periods of underground operation, making it difficult to maintain operational efficiency and significantly increasing the risk of accidents. This model clearly no longer meets the dual requirements of efficient mining and inherent safety in modern coal mining.

[0003] The emergence of automation technology has ushered in new hope for coal mining. Through automation, the drilling process and auxiliary processes can be automated. Operations that once required significant physical effort are now performed automatically by machines, significantly reducing labor intensity. Furthermore, unlike humans, machines are immune to operational errors caused by fatigue, significantly improving operational safety. Furthermore, automation technology has broken through the efficiency bottlenecks of manual operation, enabling sustained, stable, and efficient operation, making it an inevitable choice for technological upgrades in the coal industry.

[0004] The drill rod conveying system suitable for full-section drilling is one of the core systems of the automatic drilling rig. At present, the drill rod conveying system suitable for full-section drilling is generally composed of a main manipulator, an auxiliary manipulator and a transporter. The auxiliary manipulator generally refers to the drill rod conveying manipulator, which is responsible for taking the drill rod out of the drill rod box and placing it into the transporter; the main manipulator is the key executive component of the drill rod conveying system suitable for full-section drilling, which is responsible for delivering the drill rod from the transporter and other devices to the drilling rig mainframe for drilling operations; the transporter is the transition component between the two manipulators for the drill rod, which realizes the alignment and transfer of the drill rod with the main manipulator or the frame. The existing drill rod conveying system suitable for full-section drilling is still difficult to adapt to the inclination angle (i.e. the entire circumference) adjustment requirements of the full-section working conditions. Its shortcomings are mainly reflected in the following aspects:

[0005] (1) The existing main manipulator is separated from the frame. During the drilling process, the frame is in a certain inclination state. The initial position of the drill rod is generally horizontal. The manipulator needs to frequently switch between the horizontal and inclination states. The inclination joint is easily interfered with by other components, resulting in a more complex structure and sensor positioning system.

[0006] (2) The existing auxiliary manipulator is a rectangular coordinate joint manipulator, that is, each joint is a translation joint, which can only realize the translation or lifting of the drill rod, which greatly limits the subsequent mechanisms of the drill rod conveying system and the layout of the entire drilling rig. Especially in the vertical direction, the rectangular coordinate joint manipulator can only move straight up and down, making it difficult for the drill rod to cross the lifting sleeve and other essential components of the drilling rig under the drive of the grasping manipulator.

[0007] (3) Existing transporters are available in two types: translational (CN201911185745.9) and horizontal rotational (CN202210330124.0). Both types move in the horizontal plane and clamp the ends of a horizontally placed drill pipe to align it with the drill pipe box or rack. However, existing transporters lack a mechanism to secure the drill pipe in the vertical plane and are therefore unable to move at large angles.

[0008] Due to the structural limitations of the main manipulator, auxiliary manipulator and transporter, the drilling inclination range of existing automatic drilling rigs is limited, making it difficult to meet the requirements of full-section working conditions. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide a drill rod conveying system suitable for full-section drilling. The existing automatic drilling rig has a limited drilling inclination range and is difficult to meet the requirements of full-section working conditions.

[0010] In order to achieve the above object, the present invention provides the following technical solutions:

[0011] A drill rod conveying system suitable for full-section drilling, including a main manipulator, an auxiliary manipulator, and a transfer mechanism;

[0012] The main manipulator includes a main rotation joint, a main telescopic joint, and a main gripper assembly;

[0013] The main rotating joint includes a rotating seat and a rotating driver, wherein the rotating driver is arranged at one end of the rotating seat and drives the main rotating shaft to rotate, and the main rotating shaft passes through the rotating seat and is connected to the main telescopic joint;

[0014] The main jaw assembly is connected to the bottom of the main telescopic joint, and drives the main jaw assembly to extend and retract in the vertical direction through the main telescopic joint, and the main jaw assembly is used for grasping;

[0015] The auxiliary manipulator is arranged on the auxiliary slide rail of the drill rod box and includes a lifting joint, an auxiliary rotation joint, an auxiliary telescopic joint and an auxiliary clamping claw connected in sequence, the lifting joint is connected to the auxiliary slide rail at one end away from the auxiliary clamping claw, and the auxiliary telescopic joint and the auxiliary clamping claw are arranged toward the inside of the drill rod box;

[0016] The auxiliary rotation joint is connected to the lifting joint via a crossbeam; the auxiliary rotation joint comprises an auxiliary rotation shaft rotatably arranged in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the auxiliary rotation shaft. When the auxiliary rotation shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotation shaft;

[0017] The transfer mechanism includes a transfer device, a frame, and a rotary platform, wherein the transfer device is arranged between the frame and the rotary platform through an asynchronous rotation device;

[0018] The transporter includes a base plate, a support block, a pressure plate, and an axial pressing block; the support block is arranged on the base plate to support the drill rod; the axial pressing block is arranged on the base plate and is located on both sides of the support block; the upper part of the axial pressing block is rotatably connected to a pressure plate, and the pressure plate is located above the support block; the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider slidably arranged on the base plate; the pressure plate presses the drill rod onto the support block.

[0019] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the asynchronous rotation device includes a lifting sleeve, a transporter rotator, an inclination rotator, a rotary transition plate and a frame connecting plate, and the frame and the rotary platform are connected in sequence through the inclination rotator, the frame connecting plate, the rotary transition plate and the lifting sleeve; wherein, the inclination rotator is rotatably connected to the frame, and the transporter is rotatably connected to the rotary transition plate through the transporter rotator, and the asynchronous rotation adjustment of the inclination between the frame and the transporter is realized through the inclination rotator and the transporter rotator.

[0020] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the lifting sleeve includes a cavity enclosed by two side plates and a top sealing plate, sleeves are provided at both ends of the side plates, and connecting tubes are provided on the side plates; two lifting columns are relatively arranged on the rotary platform, and a lifting cylinder is provided between the two lifting columns; the lifting cylinder of the rotary platform is installed in the cavity, and under the drive of the lifting cylinder, the lifting sleeve moves up and down along the lifting column; the sleeve is mounted on the lifting column of the rotary platform, and the rotary transition plate is installed on the connecting tube.

[0021] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, a flange is provided on the connecting tube; the rotary transition plate is disc-shaped, including three groups of flanges arranged side by side, the inner flange is matched with the flange of the connecting tube, and the two groups of outer flanges are respectively used to install the installation transporter rotator and the frame connecting plate.

[0022] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the transporter rotator includes a first fixed ring and a first rotating ring arranged thereon, and the first fixed ring is connected to the flange of the rotating transition plate; the first rotating ring is fixedly connected to the first outer shell, and the transporter is installed on the first outer shell, and the inclination angle of the transporter is adjusted by rotating the first rotating ring.

[0023] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the frame connecting plate is disc-shaped, including two sets of flanges connected to each other, and the two sets of flanges are respectively connected to the flange of the rotary transition plate and the inclination rotator.

[0024] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the inclination rotator includes a second fixed ring and a second rotating ring arranged thereon, and the second fixed ring is connected to the flange of the frame connecting plate; the second rotating ring is fixedly connected to the second outer shell, and the frame is installed on the second outer shell, and the inclination angle of the frame is adjusted by rotating the second rotating ring.

[0025] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, a sliding cylinder is provided at the bottom of the base plate, and the sliding cylinder is connected to the slider to drive the slider to slide along the length direction of the base plate.

[0026] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the axial clamping block is rotatably connected to the pressure plate. When the transporter is in a state of waiting for loading or removing the drill rod, the pressure plate rotates upward and opens to facilitate loading or removing the drill rod.

[0027] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, a clamping cylinder is also provided on the pressure plate to drive the rotation of the pressure plate; the clamping cylinder is located on the outside of the two axial clamping blocks and is hingedly connected to the upper part of the axial clamping blocks.

[0028] Optionally, according to the drill rod conveying system suitable for full-section drilling of the present invention, at least two support blocks are provided, and the upper portion of each support block is provided with a groove matching the outer diameter of the drill rod.

[0029] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder and a main telescopic cylinder, the main outer cylinder is detachably connected to the main rotating shaft through a flange, the main inner cylinder is slidingly connected to the inside of the main outer cylinder, and the main clamping jaw assembly is connected to the bottom of the main inner cylinder; the main telescopic cylinder is fixed on the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

[0030] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the main clamping jaw assembly includes a main clamping jaw and a main clamping cylinder, the main clamping cylinder is fixed to the lower part of the main inner tube, and the main clamping jaw is fixed on the main clamping cylinder, and is clamped or released under the drive of the main clamping cylinder.

[0031] Optionally, the drill rod conveying system suitable for full-section drilling according to the present invention further includes a sliding joint, the sliding joint including a fixed seat, a connecting arm and a sliding cylinder, the fixed seat is connected to the frame, and a horizontally arranged main slide rail is provided on the fixed seat, the bottom of the connecting arm is provided with a sliding groove, the sliding groove and the main slide rail are mutually matched; the rotating seat in the main rotating joint is fixedly connected to the connecting arm;

[0032] One end of the sliding oil cylinder is fixed on the fixing seat, and the other end is connected to the connecting arm, so that the connecting arm slides along the track.

[0033] Optionally, according to the drill rod conveying system suitable for full-section drilling of the present invention, the end of the lifting joint away from the slide rail is connected to the bottom of the beam.

[0034] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder, the lifting outer cylinder and the lifting inner cylinder under the crossbeam are installed in a sleeve manner, the lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement, and the lifting cylinder drives the lifting pair to perform lifting movement.

[0035] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the secondary rotation joint also includes a secondary rotation drive connected to the crossbeam, and the secondary rotation drive is connected to the secondary rotation shaft to drive the rotation of the secondary rotation shaft.

[0036] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the end of the secondary rotating shaft away from the beam is connected to the secondary telescopic joint, and the secondary rotating shaft rotates to drive the secondary telescopic joint and the secondary clamp to swing.

[0037] Optionally, according to the drill rod conveying system suitable for full-section drilling of the present invention, the auxiliary telescopic joint comprises an auxiliary outer cylinder and an auxiliary inner cylinder, the auxiliary inner cylinder is inserted into the auxiliary outer cylinder to form a telescopic pair for performing telescopic movement;

[0038] and a secondary telescopic oil cylinder connected to the secondary rotating shaft, wherein the secondary telescopic oil cylinder is connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

[0039] Optionally, according to the drill rod conveying system suitable for full-section drilling described in the present invention, the auxiliary clamping jaw is connected to a secondary clamping cylinder on the side close to the telescopic unit, and the auxiliary clamping jaw is clamped or released under the drive of the secondary clamping cylinder.

[0040] The beneficial effects of the present invention are:

[0041] (1) The present invention integrates most of the functions of the main manipulator by connecting the main rotating joint and the main telescopic joint and integrating them with the frame to keep the inclination angles of the two always consistent, simplifying the manipulator's movements and reducing the possibility of interference with other components. The main rotating joint can satisfy the rotation of the main manipulator at a certain angle, which means that any drill rod within this angle range can be grasped by the main manipulator; in addition, combined with the telescopic effect of the main telescopic joint, the grasping range of the main manipulator continues to expand within the original rotation angle range, thereby achieving a wider range of applicability.

[0042] (2) By setting a secondary rotating joint with a limited angle, the auxiliary manipulator can swing in the vertical plane. This enables the auxiliary manipulator to transport drill rods across components such as the attitude adjustment device, thereby allowing the transporter to be set on the attitude adjustment device at a position on the opposite side of the drill rod box. This improvement significantly improves the flexibility of the arrangement of the drill rod conveying system suitable for full-section drilling, allowing the drilling rig to adapt to more complex downhole environments and drilling requirements. Since the auxiliary manipulator can swing in the vertical plane, the drilling rig is no longer limited to the traditional manipulator's movement mode of only being able to move straight up and down when drilling in the full section and full inclination range. This greatly increases the drilling inclination range of the drilling rig and improves the adaptability and operating efficiency of the drilling rig.

[0043] (3) A rotator is used to drive the transporter and the frame to rotate separately, thereby realizing a wide range of inclination adjustment of the transporter in the vertical plane.

[0044] Expand the inclination range of drilling. Due to design defects, the existing drill pipe transporter can only move in the horizontal plane, which limits the inclination range of drilling for the automatic drilling rig and makes it difficult to expand to large-angle drilling conditions. The inclination-adjustable drill pipe transport mechanism of the present invention realizes asynchronous rotation adjustment of the inclination between the frame and the transporter through an asynchronous rotation device. The inclination rotator can adjust the inclination of the frame, and the transporter rotator can adjust the inclination of the transporter. The two cooperate with each other to enable the transporter to adjust the inclination over a wide range in the vertical plane. This enables the automatic drilling rig to adapt to the needs of drilling with larger inclination angles, breaking through previous technical limitations, meeting the drilling operations under more complex geological conditions, and broadening the application scenarios of the automatic drilling rig.

[0045] Avoid interference between components and achieve negative high-angle drilling. The position layout of the transporter, manipulator and frame in the prior art is unreasonable. When adjusting the inclination angle of the drill pipe conveying manipulator, especially under negative inclination conditions, it will interfere with the transporter, resulting in the inability of existing automatic drilling rigs to construct negative high-angle drilling. The reasonable design of the asynchronous rotation device in the present invention effectively avoids this problem. By sequentially connecting the inclination rotator, the frame connecting plate, the rotary transition plate, the lifting sleeve and other components, the transporter and the frame can independently adjust the inclination. Under negative inclination conditions, the transporter can be adjusted to a suitable inclination as needed without interfering with other components on the rotary platform, thereby realizing the construction of negative high-angle drilling and further improving the operating capacity of the automatic drilling rig.

[0046] Improve automation and intelligence. This invention makes the drilling process more automated. Combined with automated drilling technology, it can achieve fully automatic operation of loading and unloading drill rods, drilling, and posture adjustment, further reducing labor intensity, improving operation safety and efficiency, and providing strong support for the intelligent construction of coal mines.

[0047] (4) The drill rod in transit is fixed by clamping the two ends of the drill rod in combination with pressing the top, thereby preventing the drill rod from falling during the inclination adjustment. Facilitating the loading and unloading of the drill rod: When the transporter is in the state of waiting to load or remove the drill rod (other clamping mechanisms have already clamped the drill rod), the clamping cylinder drives the pressure plate to rotate upward and open, and the sliding cylinder drives the slider to move outward, thereby expanding the internal space of the transporter and reducing obstacles during the loading and unloading process. Enhancing the stability of the drill rod fixation: By clamping the two ends of the drill rod by the slider and pressing the top by the pressure plate, the drill rod is fixed from multiple directions, which greatly enhances the stability of the drill rod during transportation and effectively avoids problems caused by shaking, deviation or even falling of the drill rod during transportation. Adapting to large-angle working conditions: The above-mentioned fixing method can ensure that the drill rod remains stable under large-angle working conditions, preventing the drill rod from falling during inclination adjustment, and expanding the application range and adaptability of the automatic drilling rig.

[0048] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0050] Figure 1 This is an overall schematic diagram of the drill rod conveying system provided by the present invention;

[0051] Figure 2 This is a front view of the main manipulator in the drill rod conveying system provided by the present invention;

[0052] Figure 3 A side view of the main manipulator in the drill rod conveying system provided by the present invention;

[0053] Figure 4 This is a schematic diagram of the assembly of the main manipulator in the drill rod conveying system provided by the present invention;

[0054] Figure 5 A side view of the auxiliary manipulator shaft in the drill rod conveying system provided by the present invention;

[0055] Figure 6 This is a front view of the auxiliary manipulator in the drill rod conveying system provided by the present invention;

[0056] Figure 7 A partial cross-sectional view of the auxiliary manipulator AA in the drill rod conveying system provided by the present invention;

[0057] Figure 8 This is an overall schematic diagram of the transfer mechanism in the drill rod conveying system provided by the present invention;

[0058] Figure 9 This is a cross-sectional view of the asynchronous rotation device in the transfer mechanism provided by the present invention;

[0059] Figure 10 This is an axial side view of the lifting sleeve in the transfer mechanism provided by the present invention;

[0060] Figure 11 This is an axonometric view of a transporter in the transport mechanism provided by the present invention;

[0061] Figure 12 This is a front view of the transporter in the transport mechanism provided by the present invention.

[0062] Reference numerals:

[0063] 5-drill rod box; 6-auxiliary manipulator; 7-attitude adjustment device; 9-main manipulator; 10-power head; 11-frame; 12-gripper;

[0064] 601-lifting cylinder; 602-lifting outer cylinder; 603-crossbeam; 604-secondary rotation driver; 605-secondary rotation shaft; 606-secondary telescopic cylinder; 607-secondary outer cylinder; 608-secondary inner cylinder; 609-secondary clamping claw; 610-secondary clamping cylinder;

[0065] 702-rotating platform: 704-lifting column: 705-lifting sleeve: 70501-side plate: 70502-sleeve: 70503-connecting cylinder: 706-lifting cylinder: 709-transporter rotator: 710-tilt rotator: 712-rotating transition plate: 713-frame connecting plate;

[0066] 801-base plate: 802-support block: 803-pressing plate: 804-pressing cylinder: 805-sliding block: 806-sliding cylinder;

[0067] 901-fixed seat; 902-main rotation driver; 903-rotation seat; 904-rotation sensor; 905-main rotation shaft; 906-main telescopic cylinder, 907-main outer cylinder; 908-main inner cylinder; 909-main clamping cylinder; 910-main clamping jaw; 911-connecting arm; 912-sliding cylinder;

[0068] 90401-Sensor seat; 90402-Sensor body; 90403-Trigger ring; DETAILED DESCRIPTION

[0069] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0070] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0071] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0072] See also Figure 1 , which is an overall schematic diagram of a drill rod conveying system suitable for full-section drilling, including a main manipulator 9, an auxiliary manipulator 6 and a transfer mechanism.

[0073] Among them, according to Figures 2 to 4 Figure 1 is a schematic diagram of the structure of the main manipulator. The main manipulator 9 includes a main rotation joint, a main telescopic joint, and a main gripper assembly. The main rotation joint includes a rotating base 903 and a main rotation driver 902. The main rotation driver 902 is located at one end of the rotating base 903 and drives the main rotation shaft 905 to rotate. The main rotation shaft 905 passes through the rotating base 903 and is connected to the main telescopic joint.

[0074] The main clamping jaw assembly is connected to the bottom of the main telescopic joint, and drives the main clamping jaw assembly to extend and retract in the vertical direction through the main telescopic joint. The main clamping jaw assembly is used for grasping.

[0075] See also Figures 5 to 7 Figure 2 shows the structure of the auxiliary manipulator 6, which is mounted on the secondary slide rail of the drill rod box. The auxiliary manipulator 6 includes a sequentially connected lifting joint, a secondary rotation joint, a secondary telescopic joint, and a secondary gripper 609. The lifting joint's end, distal from the secondary gripper 609, is connected to the secondary slide rail. The secondary telescopic joint and secondary gripper 609 are positioned toward the inside of the drill rod box. In certain embodiments, the auxiliary manipulator 6 of the present invention is used to grasp and transport drill rods.

[0076] The lifting joint and the rotating joint are connected by a cross beam 603. In some embodiments of the present invention, the drill rod box slide rail is horizontally arranged, the lifting joint is vertically installed on the drill rod box slide rail, the end of the lifting joint away from the slide rail is connected to the bottom of the cross beam 603, and the rotating joint is connected to the side of the cross beam 603.

[0077] See also Figures 8 to 12 As shown, it is a structural diagram of the transfer mechanism, which includes a transfer device 8, a frame 11, and a rotating platform 702, wherein the transfer device 8 is arranged between the frame 11 and the rotating platform 702 through an asynchronous rotation device.

[0078] The transporter 8 comprises a base plate 801, a support block 802, a pressure plate 803, a clamping cylinder 804, an axial clamping block, and a sliding cylinder 806. The base plate 801 is the primary load-bearing and connecting member of the transporter 8, providing a mounting base for all components of the transporter 8. The support block 802, the axial clamping block, the sliding cylinder 806, and other components are directly or indirectly mounted on the base plate 801, ensuring the structural integrity and stability of the transporter 8 and enabling the various components to work together to transport and secure the drill pipe.

[0079] At least two support blocks 802 are provided on the base plate 801, and the upper part of the support block 802 is provided with a groove matching the outer diameter of the drill pipe for supporting the drill pipe. In some embodiments of the present invention, there are preferably two support blocks 802. When the drill pipe is placed in the transporter 8, the drill pipe can be placed stably in the groove of the support block 802. The support block 802 bears the main weight of the drill pipe, provides reliable support for the drill pipe, and ensures that the drill pipe will not sink or shake due to its own weight during transportation. The axial clamping block is provided on the base plate 801 and is located on both sides of the support block 802. The axial clamping block presses and fixes the drill pipe axially; the axial clamping block includes at least one slider 805 slidably arranged on the base plate 801. In some embodiments of the present invention, the axial compression blocks on both sides of the support block 802 are composed of a fixed block and a slider 805. The slider 805 slides on the bottom plate 801 to expand the internal space when placing or removing the drill rod, or to compress the drill rod against the fixed block on the other side. In other embodiments of the present invention, both axial compression blocks are sliders 805. The upper portion of the slider 805 is hingedly connected to a pressure plate 803 and a compression cylinder 804. The pressure plate 803 is located above the support block 802 and is rotatably connected to the upper portion of the axial compression block. The clamping cylinder 804 is located on the outside of the two axial clamping blocks. The clamping cylinder 804 drives the pressure plate 803 and is the power source for driving the pressure plate 803 to rotate. Through the telescopic movement of the clamping cylinder 804, power can be transmitted to the pressure plate 803, causing the pressure plate 803 to rotate according to a predetermined trajectory, achieving the action of tightening or loosening the drill rod until the drill rod is pressed against the support block 802. The pressure plate 803 applies pressure to the drill rod from the top, further limiting the movement of the drill rod in the vertical and horizontal directions, enhancing the stability of the drill rod fixation, and preventing the drill rod from falling during transportation. The precise control of the clamping cylinder 804 can ensure that the pressure plate 803 applies appropriate pressure to the drill rod, neither effectively fixing the drill rod due to too little pressure nor damaging the drill rod due to excessive pressure.

[0080] A sliding cylinder 806 is installed at the bottom of base plate 801. Connected to slider 805, it acts as the power unit that drives slider 805 along the length of base plate 801. This drives slider 805 toward the center of base plate 801, clamping the drill rod and limiting its axial movement. Working together with support block 802 and pressure plate 803, this provides multi-directional securement of the drill rod. The stable operation of sliding cylinder 806 precisely controls the position and speed of slider 805, ensuring smooth loading, unloading, and securing of the drill rod, and guaranteeing its stability during transport.

[0081] When the transporter 8 is in a state of waiting for the drill rod to be loaded or removed (other clamping mechanisms have already clamped the drill rod), the clamping cylinder 804 drives the pressure plate 803, the pressure plate 803 rotates and opens upward, and the sliding cylinder 806 drives the slider 805 to move outward, expanding the internal space to facilitate the loading or removal of the drill rod; after the drill rod is loaded or removed, the clamping cylinder 804 drives the pressure plate 803 to rotate back to the clamping position. When the drill rod is placed in the transporter 8, and the transporter 8 needs to be rotated or moved, the clamping cylinder 804 drives the pressure plate 803 to clamp the drill rod, and the sliding cylinder 806 drives the slider 805 to move toward the middle to keep the internal drill rod stable and not easy to fall off. Specifically: The basic working process of the drill rod conveying system provided by the present invention is as follows:

[0082] Example 1:

[0083] (1) Rod feeding condition

[0084] 1) Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α; the transporter 8 is in a horizontal position, the slider 805 is extended to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 is retracted, the rotating joint is in the state of completing the first rotation, the sliding joint is retracted, and the clamping jaw is open; the auxiliary manipulator 6 is located at any position of the slide rail of the drill rod box 5, the lifting joint and the telescopic joint prevent the clamping jaw from interfering with the drill rod box 5 and the drill rod therein, and the rotating joint makes the clamping jaw vertically downward, and the clamping jaw is open; the drilling rig is drilling.

[0085] 2) Auxiliary manipulator 6 selects a row of drill rods: The auxiliary manipulator 6 selects a row of drill rods under the control of the control system.

[0086] 3) Height adjustment of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted by the lifting joint and the telescopic joint to reach a height suitable for grabbing the top drill rod of the selected column.

[0087] 4) The auxiliary manipulator 6 grabs the drill rod: the auxiliary manipulator 6 clamps the drill rod.

[0088] 5) Height adjustment of the auxiliary manipulator 6: The auxiliary manipulator 6 is reversely adjusted to a height at which the drill rod does not interfere with the drill rod box 5 and is suitable for placing the drill rod on the transporter 8.

[0089] 6) The auxiliary manipulator 6 moves horizontally: the auxiliary manipulator 6 holds the drill rod and moves horizontally toward the transporter 8.

[0090] 7) Auxiliary manipulator 6 swings up: the gripper of the auxiliary manipulator 6 swings upward and lifts up.

[0091] 8) The auxiliary manipulator 6 extends: the auxiliary manipulator 6 telescopic joint drives the clamping claw to extend toward the transporter 8.

[0092] 9) The transporter 8 clamps the drill rod: After the drill rod is placed in the transporter 8, the slider 805 of the transporter 8 contracts inwards, and the pressure plate 803 presses the drill rod.

[0093] 10) The auxiliary manipulator 6 releases the drill rod, and the telescopic joint retracts to return to the initial state, ready to grab the next drill rod.

[0094] 11) Rotation of the transporter 8: The transporter 8 rotates from a horizontal position in the direction of the inclination angle α until the inclination angle is the same as that of the frame 11.

[0095] 12) The main manipulator 9 rotates in the opposite direction: the main manipulator 9 rotates toward the transporter 8.

[0096] 13) The main manipulator 9 extends: the main manipulator 9 extends toward the transporter 8 through its telescopic joint.

[0097] 14) Main manipulator 9 clamping: The main manipulator 9 clamps the drill rod.

[0098] 15) The transporter 8 is released: the transport trough slider 805 expands to both sides and the pressure plate 803 is released.

[0099] 16) The first stage of rotation of the main manipulator 9: the main manipulator 9 rotates clockwise ( Figure 1 ) rotates to make room for the transporter 8 to rotate.

[0100] 17) The main manipulator 9 retracts: the telescopic joint of the main manipulator 9 retracts.

[0101] 18) Main manipulator 9 slides: The main manipulator 9 slides toward the gripper 12 so that the drill rod is in a position suitable for being sent into the frame 11.

[0102] 19) Main manipulator 9 waits: waits for the current drill rod to complete drilling.

[0103] 20) Transporter 8 horizontal: Transporter 8 returns to the horizontal position.

[0104] 21) Disconnecting the drill rod in the hole: After completing the drilling of the current drill rod, the power head 10 is disconnected from the drill rod in the hole and retreats to a position suitable for installing the drill rod.

[0105] 22) The main manipulator 9 extends: the telescopic joint of the main manipulator 9 extends.

[0106] 23) Second stage rotation of the main manipulator 9: The main manipulator 9 performs the second stage rotation, sending the drill rod into the frame 11, and the drill rod is clamped by the clamper 12 or the power head 10.

[0107] 24) Main manipulator 9 releases: Main manipulator 9 releases the drill rod.

[0108] 25) Drill rod connection: The power head 10 and the clamp 12 cooperate to complete the drill rod connection and continue drilling.

[0109] Example 2:

[0110] (2) Rod withdrawal condition

[0111] 1) Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α; the transporter 8 is in a horizontal position, the slider 805 is expanded to both ends, and the pressure plate 803 is opened; the telescopic joint of the main manipulator 9 is retracted, the main rotating joint is in the state of completing the first rotation, the sliding joint is retracted, and the main gripper is opened; the auxiliary manipulator 6 is located at the position where the slide rail of the drill rod box 5 is closest to the transfer trough, the lifting joint makes the gripper at a height suitable for grabbing the drill rod in the transporter 8, the auxiliary telescopic joint is retracted, the auxiliary rotating joint makes the auxiliary gripper rise, and the auxiliary gripper is opened; the drilling rig has just completed drilling the last drill rod.

[0112] 2) The power head 10 retreats: the power head 10 drags the drill rod in the hole backward;

[0113] 3) The main manipulator 9 slides: The main manipulator 9 slides toward the gripper 12 and is in a position suitable for extending into the frame 11 to grab the drill rod.

[0114] 4) Main manipulator 9 waits: waits for the current drill pipe to complete shattering;

[0115] 5) The transporter 8 rotates: the transporter 8 rotates in the direction of the inclination angle α until the inclination angle is the same as that of the frame 11.

[0116] 6) Drill pipe shackle: The power head 10 and the clamp 12 cooperate to complete the drill pipe shackle (disconnection with the drill pipe in the hole).

[0117] 7) The main manipulator 9 extends: the telescopic joint of the main manipulator 9 extends.

[0118] 8) Second stage rotation of the main manipulator 9: The main manipulator 9 performs the second stage rotation, and the gripper reaches a position where it can grip the drill rod to be removed in the frame 11.

[0119] 9) Main manipulator 9 clamping: The main manipulator 9 clamps the drill rod.

[0120] 10) The clamp 12 or the power head 10 is released: the clamp 12 or the power head 10 is completely disconnected from the drill pipe to be removed.

[0121] 11) The main manipulator 9 rotates in the opposite direction: The main manipulator 9 rotates in the opposite direction to place the drill pipe into the transporter 8.

[0122] 12) Clamping of the transporter 8: When the drill rod is placed in the transporter 8, the slider 805 of the transporter 8 contracts inwards, and at the same time, the pressure plate 803 presses the drill rod.

[0123] 13) Main manipulator 9 releases: Main manipulator 9 releases the drill rod.

[0124] 14) The main manipulator 9 retracts: the telescopic joint of the main manipulator 9 retracts.

[0125] 15) The first stage of rotation of the main manipulator 9: the main manipulator 9 rotates clockwise ( Figure 1 ) rotates to make room for the transporter 8 to rotate.

[0126] 16) Transporter 8 horizontal: Transporter 8 returns to the horizontal position.

[0127] 17) The auxiliary manipulator 6 extends: the auxiliary manipulator 6 telescopic joint drives the gripper to extend toward the transporter 8.

[0128] 18) Auxiliary manipulator 6 clamping: The auxiliary manipulator 6 clamps the drill rod.

[0129] 19) The transporter 8 is released: the transport trough slider 805 expands to both sides and the pressure plate 803 is released.

[0130] 20) The auxiliary manipulator 6 retracts: The telescopic joint of the auxiliary manipulator 6 retracts and takes out the drill rod from the transporter 8.

[0131] 21) The auxiliary manipulator 6 swings down: the gripper of the auxiliary manipulator 6 swings downward and away from the transporter 8.

[0132] 22) Auxiliary manipulator 6 selects a column: Under the control of the control system, the auxiliary manipulator 6 selects a column of space where the drill rod can be placed.

[0133] 23) Height adjustment of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted by the lifting joint and the telescopic joint to reach a height suitable for placing the current drill rod into the drill rod box 5.

[0134] 24) Auxiliary manipulator 6 releases: After the drill rod is placed, the auxiliary manipulator 6 releases the drill rod.

[0135] Example 3:

[0136] The main telescopic joint comprises a vertically arranged main outer cylinder 907 and a main inner cylinder 908. The main outer cylinder 907 is connected to the main rotating shaft 905, and the main inner cylinder 908 is slidably connected to the interior of the main outer cylinder 907. The main gripper assembly is connected to the bottom of the main inner cylinder 908. During implementation, the main inner cylinder 908 and the main outer cylinder 907 of the present invention maintain relative sliding in the axial direction, with the sliding direction perpendicular to the axis of the main rotating shaft 905 in the main rotating joint. This extends the radius of the original main manipulator 9 and expands the grasping range of the main manipulator 9. In addition, during installation, the main inner cylinder 908 and the main outer cylinder 907 should be equipped with structures such as limit rings or retaining rings to ensure that the main inner cylinder 908 does not slip outside the main outer cylinder 907.

[0137] Furthermore, the main outer cylinder 907 is detachably connected to the main rotating shaft 905 via a flange. During implementation, the main telescopic joint in the present invention is suspended at one end of the main rotating shaft 905. In addition to the weight of the main clamping jaw assembly, sufficient connection strength is required between the main rotating shaft 905 and the main outer cylinder 907. Flange connection is to first fix two pipes, pipe fittings or equipment on a flange plate, add a flange gasket between the two flange plates, and fasten them together with bolts to complete the connection. Flange connection is an important connection method for pipeline construction. Flange connection is easy to use and can withstand greater pressure. Therefore, the present invention meets the connection strength between the main rotating shaft 905 and the main outer cylinder 907 through flange connection, and the flange connection is connected by multiple bolts, so that the main rotating shaft 905 and the main outer cylinder 907 can be disassembled to facilitate the later inspection or replacement of various components.

[0138] In addition, the main outer cylinder 907 and the main inner cylinder 908 in the present invention are both hollow cylindrical structures, which reduces the weight of the main telescopic joint to a certain extent and further ensures the connection strength between the main outer cylinder 907 and the main rotating shaft 905.

[0139] Furthermore, the main telescopic joint also includes a main telescopic oil cylinder 906, which is fixed to the top of the main outer cylinder 907. The main inner cylinder 908 is connected to the output end of the main telescopic oil cylinder 906. The present invention uses the main telescopic oil cylinder 906 to intelligently control the relative movement between the main outer cylinder 907 and the main inner cylinder 908, so that the main clamping jaw assembly located at the bottom of the main inner cylinder 908 can stop at a set position and perform a grasping action. The extension and contraction process of the main telescopic oil cylinder 906 is the distance that the main outer cylinder 907 and the main inner cylinder 908 can move relative to each other, and this distance should be less than the maximum displacement between the main outer cylinder 907 and the main inner cylinder 908 to prevent collision between the main outer cylinder 907 and the main inner cylinder 908.

[0140] Furthermore, the main clamping jaw assembly includes a main clamping jaw 910 and a main clamping cylinder 909. The main clamping cylinder 909 is fixed to the lower portion of the main inner tube 908. The main clamping jaw 910 is fixed to the main clamping cylinder 909 and is clamped or released under the drive of the main clamping cylinder 909. During operation, after the main rotating joint drives the main clamping jaw 910 to rotate to a set angle, the main telescopic joint's telescopic function extends the main clamping jaw 910 to a specified position. Finally, the main clamping cylinder 909 executes the grasping command to complete the grasping process. The main telescopic joint then controls the main clamping jaw 910 to retract. After the main rotating joint drives the main telescopic joint and the main clamping jaw 910 to rotate to the specified position, the main clamping cylinder 909 executes the release command to release the grasped drill rod to the specified position.

[0141] Example 4:

[0142] Based on Figure 2 As shown, the frame-mounted main manipulator 9 provided by the present invention also includes a sliding joint, and the rotating seat 903 is fixed to the sliding joint to drive the overall horizontal displacement of the main manipulator 9. The difference from the third embodiment is that this embodiment adds a sliding joint, while the remaining main rotating joints and main telescopic joints remain the same as those in the third embodiment.

[0143] As mentioned above, the combination of the main rotating joint and the main telescopic joint enables the main manipulator 9 to expand the grasping range. The sliding joint in this embodiment applies a horizontal displacement function to the main manipulator 9, further expanding the grasping range of the main manipulator 9.

[0144] Furthermore, the sliding joint includes a fixed seat 901 and a connecting arm 911. The fixed seat 901 is connected to the frame 11 and is equipped with a horizontally arranged main slide rail. The bottom of the connecting arm 911 is provided with a sliding groove that cooperates with the main slide rail. The rotating seat 903 in the main rotating joint is fixedly connected to the connecting arm 911. During implementation, the cooperation between the rail and the sliding groove limits the horizontal displacement between the connecting arm 911 and the fixed seat 901, that is, determines the direction and amount of horizontal displacement of the connecting arm 911. The main rotating joint and the main telescopic joint in the present invention are both fixed to the connecting arm 911. Therefore, any displacement of the connecting arm 911 will cause the entire main manipulator 9 to move. The specific horizontal displacement direction needs to be determined based on the initial position of the drill rod, the required transport position, and the initial position of the main manipulator 9 in the actual situation. In other words, the rail in the sliding joint in the present invention can be set in any direction to ensure that the main manipulator 9 can effectively complete the grasping process.

[0145] In addition, in Example 3, it is mentioned that the main telescopic joint is suspended at one end of the main rotating shaft 905, that is, the connecting arm 911 also needs to assume the supporting role of the main manipulator 9. Therefore, according to the principle of leverage, without interfering with the normal extension and contraction of the main telescopic joint, there should be sufficient connection area between the connecting arm 911 and the rotating seat 903, and the distance between the connecting arm 911 and the main telescopic joint should be reduced as much as possible to ensure sufficient connection strength between the two, so as to avoid the main rotating shaft 905 being damaged due to excessive suspension of the main telescopic joint. Similarly, the rotating seat 903 should also have sufficient covering area for the main rotating shaft 905, and distribute the gravity of the main telescopic joint and the main clamping jaw assembly to each part of the rotating seat 903 through the transmission shaft, and then transmit it as a whole to the fixed seat 901 through the connecting arm 911.

[0146] Furthermore, the sliding joint also includes a sliding oil cylinder 912, one end of which is fixed to the fixed seat 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. The present invention uses the sliding oil cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed seat 901, so that the main manipulator 9 can stop at a set position and perform a grasping action. The displacement process of the sliding oil cylinder 912 is the distance that the connecting arm 911 and the fixed seat 901 can move relative to each other, and this distance should be less than the maximum displacement between the connecting arm 911 and the fixed seat 901 to prevent collision between the connecting arm 911 and the fixed seat 901.

[0147] See also Figures 5 to 7 As shown, the lifting joint and the auxiliary rotation joint are connected via a crossbeam 603 . The lifting joint is connected below the crossbeam 603 , and the auxiliary rotation joint is connected to the side of the crossbeam 603 .

[0148] The lifting joint includes a lifting cylinder 601 and a lifting outer cylinder 602 which are connected to each other. The lifting outer cylinder 602 is installed in a sleeve arrangement with the lifting inner cylinder below the beam 603. The lifting outer cylinder 602 and the lifting inner cylinder form a lifting pair. The lifting cylinder 601 drives the lifting pair to perform lifting motion.

[0149] The secondary rotating joint includes a secondary rotating driver 604 connected to the beam 603 and a secondary rotating shaft 605 connected to the secondary rotating driver 604. The secondary rotating shaft 605 rotates under the drive of the secondary rotating driver 604; the end of the secondary rotating shaft 605 away from the beam 603 is connected to the secondary telescopic joint. The secondary rotating shaft 605 rotates, driving the secondary telescopic joint and the secondary clamp 609 to swing.

[0150] The secondary telescopic joint includes a secondary telescopic oil cylinder 606 connected to the secondary rotating shaft 605. The secondary outer cylinder 607 and the secondary inner cylinder 608 are connected to the lower part of the secondary telescopic oil cylinder 606. The secondary inner cylinder 608 is inserted into the secondary outer cylinder 607 to form a telescopic joint, which performs telescopic movement under the drive of the secondary telescopic oil cylinder 606.

[0151] The auxiliary rotating shaft 605 is installed in the inner cavity of the beam 603. The inner cavity of the beam 603 is provided with an arc groove. The outer side of the auxiliary rotating shaft 605 is provided with a protrusion. When the auxiliary rotating shaft 605 rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotating shaft 605.

[0152] A side of the auxiliary clamping jaw 609 close to the telescopic unit is connected to an auxiliary clamping oil cylinder 610 , and the auxiliary clamping jaw 609 is clamped or released under the drive of the auxiliary clamping oil cylinder 610 .

[0153] The present invention achieves vertical swinging of the auxiliary manipulator 6 by providing a secondary rotational joint with a defined angle. This allows the manipulator to transport drill pipe across components such as the attitude adjustment device, thereby allowing the transporter to be positioned on the attitude adjustment device on the opposite side of the drill pipe box. This improvement significantly increases the flexibility of the drill pipe transportation system layout for full-face drilling, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0154] Embodiment 5:

[0155] See also Figures 8 to 12 As shown, the asynchronous rotation device includes a lifting sleeve 705, a transporter rotator 709, an inclination rotator 710, a rotation transition plate 712 and a frame connecting plate 713. The frame 11 and the rotating platform 702 are connected in sequence through the inclination rotator 710, the frame connecting plate 713, the rotation transition plate 712 and the lifting sleeve 705; wherein, the inclination rotator 710 is rotationally connected to the frame 11, and the transporter 8 is rotationally connected to the rotation transition plate 712 through the transporter rotator 709, and the inclination angle between the frame 11 and the transporter 8 is asynchronously rotated and adjusted through the inclination rotator 710 and the transporter rotator 709.

[0156] The lifting sleeve 705 is a connector for installing the transporter rotator 709, the tilt rotator 710, the rotary transition plate 712 and the frame connecting plate 713. It includes a cavity enclosed by two side plates 70501 and a top cover plate. Sleeves 70502 are provided at both ends of the side plates 70501, and a connecting cylinder 70503 is provided on the side plates 70501. Two lifting columns 704 are relatively provided on the rotary platform 702, and a lifting cylinder 706 is provided between the two lifting columns 704. The cavity The lifting cylinder 706 of the rotating platform 702 is installed inside, and one end of the lifting cylinder 706 is connected to the lifting sleeve 705 by a pin shaft or the like, and the other end is fixedly installed on the rotating platform 702, thereby indirectly installing the lifting sleeve 705 on the rotating platform 702. Driven by the lifting cylinder 706, the lifting sleeve 705 moves up and down along the lifting column 704; the sleeve 70502 is sleeved on the lifting column 704 of the rotating platform 702, and a rotating transition plate 712 is installed on the connecting cylinder 70503.

[0157] The connecting tube 70503 is located on the side of the lifting sleeve 705 facing the frame 11, and a flange is provided on the connecting tube 70503; the rotary transition plate 712 is disc-shaped, including three sets of flanges arranged side by side, the inner flange is connected to the flange of the connecting tube 70503, and the two sets of outer flanges are used to install the transporter rotator 709 and the frame connecting plate 713 respectively.

[0158] The transporter rotator 709 is a driving element for adjusting the inclination of the transporter 8. The transporter rotator 709 includes a first fixed ring and a first rotating ring provided thereon. The first fixed ring is bolted to the flange of the rotating transition plate 712, thereby indirectly fixing the rotating transition plate 712 to the lifting sleeve 705. The first rotating ring is fixedly connected to the first outer shell, and the transporter 8 is mounted on top of the first outer shell. The inclination of the transporter 8 is adjusted by rotating the first rotating ring. In some embodiments of the present invention, the transporter rotator 709 is preferably a worm gear reducer, with the first rotating ring being the inner ring and the first fixed ring being the outer ring. The outer side of the outer ring is a worm wheel, which is driven to rotate by the worm.

[0159] The frame connecting plate 713 is disc-shaped and includes two sets of flanges connected to each other. The two sets of flanges are respectively connected to the flange of the rotary transition plate 712 and the inclination rotator 710.

[0160] The inclination rotator 710 includes a second fixed ring and a second rotating ring arranged thereon, and the second fixed ring is connected to the flange of the frame connecting plate 713; the second rotating ring is fixedly connected to the second outer shell, and the frame 11 is installed on the second outer shell. The rotation of the second rotating ring drives the frame 11 to rotate in a circle to adjust the inclination angle of the frame 11; the inclination rotator 710 is similar to the transporter rotator 709, the second rotating ring is the inner ring, and the second fixed ring is the outer ring.

[0161] The asynchronous rotation principle of the drill rod transfer mechanism of the present invention is as follows:

[0162] The first fixing ring of the transporter rotator 709 is bolted to the flange of the rotating transition plate 712, thereby indirectly fixing the rotating transition plate 712 to the lifting sleeve 705. The inner ring of the transporter rotator 709 is the first rotating ring and is fixedly connected to the first outer shell. The transporter 8 is fixedly mounted on the top of the outer shell, and the inclination angle can be adjusted as the outer shell rotates. Figure 1 The attitude adjustment device 7 is an actuator for adjusting the drilling inclination and azimuth of the frame 11.

[0163] Similar to the first fixed ring of the transporter rotator 709, the frame connecting plate 713 is fixedly mounted on the rotary transition plate 712, thereby indirectly fixing the frame connecting plate 713 to the lifting sleeve 705. The second rotating ring (preferably the inner ring) of the inclinometer rotator 710 is connected to the frame 11, and the second fixed ring (outer ring) is fixedly mounted on the frame connecting plate 713, thereby indirectly fixing the frame connecting plate 713 to the lifting sleeve 705.

[0164] Therefore, the first fixed ring of the transporter rotator 709 and the second fixed ring of the inclination rotator 710 are both fixedly mounted on the lifting sleeve 705, and the first rotating ring and the second rotating ring respectively carry the transporter 8 and the frame 11, and are not restricted in rotation by the lifting sleeve 705, and can rotate independently and freely, thus forming an asynchronous rotation device that drives the frame 11 and the transporter 8 to adjust the inclination angles of the two components separately.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. Drill rod conveying system suitable for full-section drilling, characterized by: Including main manipulator, auxiliary manipulator and transfer mechanism; The main manipulator includes a main rotation joint, a main telescopic joint, and a main gripper assembly; The main rotating joint includes a rotating seat and a rotating driver, wherein the rotating driver is arranged at one end of the rotating seat and drives the main rotating shaft to rotate, and the main rotating shaft passes through the rotating seat and is connected to the main telescopic joint; The main jaw assembly is connected to the bottom of the main telescopic joint, and drives the main jaw assembly to extend and retract in the vertical direction through the main telescopic joint, and the main jaw assembly is used for grasping; The auxiliary manipulator is arranged on the auxiliary slide rail of the drill rod box and includes a lifting joint, an auxiliary rotation joint, an auxiliary telescopic joint and an auxiliary clamping claw connected in sequence, the lifting joint is connected to the auxiliary slide rail at one end away from the auxiliary clamping claw, and the auxiliary telescopic joint and the auxiliary clamping claw are arranged toward the inside of the drill rod box; The auxiliary rotation joint is connected to the lifting joint via a crossbeam; the auxiliary rotation joint comprises an auxiliary rotation shaft rotatably arranged in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the auxiliary rotation shaft. When the auxiliary rotation shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotation shaft; The transfer mechanism includes a transfer device, a frame, and a rotary platform, wherein the transfer device is arranged between the frame and the rotary platform through an asynchronous rotation device; The transporter includes a base plate, a support block, a pressure plate, and an axial pressing block; the support block is arranged on the base plate to support the drill rod; the axial pressing block is arranged on the base plate and is located on both sides of the support block; the upper part of the axial pressing block is rotatably connected to a pressure plate, and the pressure plate is located above the support block; the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider slidably arranged on the base plate; the pressure plate presses the drill rod onto the support block.

2. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: The asynchronous rotation device includes a lifting sleeve, a transporter rotator, an inclination rotator, a rotation transition plate and a frame connecting plate. The frame and the rotating platform are connected in sequence through the inclination rotator, the frame connecting plate, the rotation transition plate and the lifting sleeve; wherein the inclination rotator is rotationally connected to the frame, and the transporter is rotationally connected to the rotation transition plate through the transporter rotator, and the inclination angle between the frame and the transporter is asynchronously rotated and adjusted through the inclination rotator and the transporter rotator.

3. The drill rod conveying system suitable for full-section drilling according to claim 2, characterized in that: The lifting sleeve includes a cavity enclosed by two side plates and a top sealing plate, sleeves are provided at both ends of the side plates, and a connecting tube is provided on the side plates; two lifting columns are relatively arranged on the rotating platform, and a lifting cylinder is provided between the two lifting columns; the lifting cylinder of the rotating platform is installed in the cavity, and under the drive of the lifting cylinder, the lifting sleeve moves up and down along the lifting column; the sleeve is mounted on the lifting column of the rotating platform, and the rotating transition plate is installed on the connecting tube.

4. The drill rod conveying system suitable for full-section drilling according to claim 3, characterized in that: A flange is provided on the connecting cylinder; the rotary transition plate is disc-shaped and includes three sets of flanges arranged side by side, the inner flange is connected to the flange of the connecting cylinder, and the two sets of outer flanges are respectively used to install the transporter rotator and the frame connecting plate.

5. The drill rod conveying system suitable for full-section drilling according to claim 4, characterized in that: The transporter rotator includes a first fixed ring and a first rotating ring arranged thereon, the first fixed ring is connected to the flange of the rotating transition plate; the first rotating ring is fixedly connected to the first outer shell, the transporter is installed on the first outer shell, and the inclination angle of the transporter is adjusted by rotating the first rotating ring.

6. The drill rod conveying system suitable for full-section drilling according to claim 4, characterized in that: The frame connecting plate is disc-shaped and includes two groups of flanges connected to each other. The two groups of flanges are respectively connected to the flange of the rotary transition plate and the inclination rotator.

7. The drill rod conveying system suitable for full-section drilling according to claim 3, characterized in that: The inclination rotator includes a second fixed ring and a second rotating ring arranged thereon, the second fixed ring is connected to the flange of the frame connecting plate; the second rotating ring is fixedly connected to the second outer shell, the frame is mounted on the second outer shell, and the inclination angle of the frame is adjusted by rotating the second rotating ring.

8. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: A sliding oil cylinder is provided at the bottom of the base plate, and the sliding oil cylinder is connected to the sliding block to drive the sliding block to slide along the length direction of the base plate.

9. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: The axial pressing block is rotatably connected to the pressing plate. When the transporter is in a state of waiting for the drill rod to be loaded or taken out, the pressing plate is rotated and opened upward to facilitate the loading or taking out of the drill rod.

10. The drill rod conveying system suitable for full-section drilling according to any one of claims 1 or 9, characterized in that: The pressing plate is further provided with a pressing oil cylinder for driving the rotation of the pressing plate; the pressing oil cylinder is located outside the two axial pressing blocks and is hingedly connected to the upper portion of the axial pressing blocks.

11. The drill rod conveying system suitable for full-section drilling according to claim 10, characterized in that: There are at least two support blocks, and the upper portion of each support block is provided with a groove matching the outer diameter of the drill rod.

12. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: The main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder and a main telescopic cylinder. The main outer cylinder is detachably connected to the main rotating shaft via a flange. The main inner cylinder is slidably connected to the inside of the main outer cylinder. The main clamping jaw assembly is connected to the bottom of the main inner cylinder; the main telescopic cylinder is fixed to the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

13. The drill rod conveying system suitable for full-section drilling according to claim 1 or 12, characterized in that: The main clamping jaw assembly includes a main clamping jaw and a main clamping oil cylinder. The main clamping oil cylinder is fixed to the lower part of the main inner tube. The main clamping jaw is fixed on the main clamping oil cylinder and is clamped or released under the drive of the main clamping oil cylinder.

14. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: It also includes a sliding joint, which includes a fixed seat, a connecting arm and a sliding cylinder. The fixed seat is connected to the frame and is provided with a horizontally arranged main slide rail. The bottom of the connecting arm is provided with a sliding groove, and the sliding groove cooperates with the main slide rail. The rotating seat in the main rotating joint is fixedly connected to the connecting arm. One end of the sliding oil cylinder is fixed on the fixing seat, and the other end is connected to the connecting arm, so that the connecting arm slides along the track.

15. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: One end of the lifting joint away from the slide rail is connected to the lower side of the crossbeam.

16. The drill rod conveying system suitable for full-section drilling according to claim 15, characterized in that: The lifting joint includes a lifting outer cylinder and a lifting oil cylinder connected to the lifting outer cylinder. The lifting outer cylinder is installed in a sleeve manner with the lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement. The lifting oil cylinder drives the lifting pair to perform lifting movement.

17. The drill rod conveying system suitable for full-section drilling according to claim 15, characterized in that: The secondary rotation joint further includes a secondary rotation driver connected to the crossbeam, and the secondary rotation driver is connected to the secondary rotation shaft to drive the rotation of the secondary rotation shaft.

18. The drill rod conveying system suitable for full-section drilling according to claim 17, characterized in that: One end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. The secondary rotating shaft rotates to drive the secondary telescopic joint and the secondary clamp to swing.

19. The drill rod conveying system suitable for full-section drilling according to claim 17, characterized in that: The secondary telescopic joint comprises a secondary outer tube and a secondary inner tube, wherein the secondary inner tube is inserted into the secondary outer tube to form a telescopic pair for telescopic movement; and a secondary telescopic oil cylinder connected to the secondary rotating shaft, wherein the secondary telescopic oil cylinder is connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

20. The drill rod conveying system suitable for full-section drilling according to claim 1, characterized in that: A side of the auxiliary clamping jaw close to the telescopic unit is connected to an auxiliary clamping oil cylinder, and the auxiliary clamping jaw is clamped or released under the drive of the auxiliary clamping oil cylinder.

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