Drill rod loading and unloading system facilitating replacement of drill rod box

Abstract

The invention relates to a drill rod loading and unloading system facilitating drill rod box replacement, and belongs to the field of coal mine directional drilling machines. The system is mainly composed of a drill rod box and a drill rod grabbing mechanical arm, the drill rod box is of a frame structure with the top open, a plurality of rows of partition plate storage cavities are arranged in the drill rod box, and lateral hooking installation is achieved through a bottom support; the drill rod grabbing manipulator comprises a fixing mechanism and a horizontal displacement mechanism, and precise positioning is achieved by adopting the design that swing arm supporting is matched with linear guide driving. The two modules are arranged in a split structure, so that the drill rod box can be replaced independently and quickly. According to the system, the assembly and disassembly efficiency of the drill rod is remarkably improved through modular design, the narrow space operation adaptability is enhanced through an optimized mechanical structure, the compatibility problem of drill rods of different specifications is solved through a split type scheme, meanwhile, the equipment maintenance difficulty is reduced, the overall structure is stable and reliable, and the system is particularly suitable for continuous drilling operation under the complex geological condition.

Description

Technical Field

[0001] The invention belongs to the field of coal mine directional drilling machines and relates to a drill rod loading and unloading system which is convenient for replacing a drill rod box. Background Art

[0002] Current drilling operations face two major technical bottlenecks in drill pipe handling systems: First, the rigid connection between the manipulator and the drill pipe box limits equipment flexibility. Replacement of drill pipes of different specifications requires disassembly of the entire system. Second, the drill pipe box is improperly positioned. Most solutions employ an embedded installation within the platform, which not only occupies effective working space but also makes replacement operations extremely inconvenient. Existing solutions primarily focus on improving the manipulator's gripping accuracy and motion trajectory, but overlook the importance of modular system design.

[0003] Some studies have attempted to adapt to drill rods of different diameters by adding internal adjustment mechanisms to the drill rod box, but this design significantly increases the complexity of the box structure and cannot solve the length adaptation problem. Some other solutions use a multi-station drill rod box design. Although this improves adaptability to a certain extent, it results in a large device size, which is not conducive to the overall layout of the mobile platform. It is particularly noteworthy that the mounting brackets of existing drill rod boxes are mostly welded and fixed, and the connection interface with the mobile platform lacks a standardized design. This requires secondary modification when transferring the drill rod box between different equipment, seriously affecting construction efficiency. These problems are particularly evident in application scenarios such as deep well drilling and directional drilling, which require a high diversity of drill rod specifications, restricting the comprehensive performance of drilling equipment. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a drill rod loading and unloading system that is convenient for replacing the drill rod box, and to break through the limitations of system flexibility and replacement efficiency by decoupling the functional modules of the manipulator and the drill rod box.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a drill rod loading and unloading system that facilitates the replacement of a drill rod box, comprising a drill rod box and a drill rod grabbing manipulator. The drill rod box comprises a drill rod box body, a plurality of partitions, and a bracket assembly. The drill rod box body is formed by a bottom plate and two side vertical plates forming a frame structure with an open top. The partitions are vertically arranged within the drill rod box body to form multiple rows of storage cavities. The bracket assembly is fixedly connected to the bottom of the drill rod box body and is used to laterally hang the drill rod box on the outer side of a mobile platform. The drill rod grabbing manipulator comprises a fixing mechanism and a horizontal displacement mechanism. The fixing mechanism includes two spaced connection points fixed to the mobile platform and swing arms connected at both ends. The horizontal displacement mechanism includes a support frame fixed to the swing arm, a linear guide assembly provided on the support frame, a bearing seat slidably assembled through the guide assembly, and a linear drive assembly that drives the bearing seat to move horizontally. The drill rod grabbing manipulator and the drill rod box adopt a split structure, so that the drill rod box can be independently replaced to accommodate drill rods of different specifications.

[0007] Optionally, this solution also includes: a lifting joint, whose fixed end is connected to the bearing seat; a flip joint, whose base is connected to the output end of the lifting actuator; a telescopic joint, whose fixed end is connected to the output end of the flip actuator; and a claw joint installed at the output end of the axial telescopic mechanism.

[0008] Optionally, the fixing mechanism comprises two swing arm seats spaced apart along the length direction of the drill rod and fixed to the mobile platform.

[0009] Optionally, the horizontal displacement mechanism is a translation joint, comprising: a bracket fixedly mounted on the swing arm; a track and a translation motor provided on the bracket; and a supporting seat driven by the translation motor to move horizontally.

[0010] Optionally, the bearing seat is slidably connected to the track through a slider and is driven by a translation motor to move horizontally.

[0011] Optionally, the lifting joint includes a lifting outer cylinder and a lifting inner cylinder, and the lifting outer cylinder is fixedly connected to the bearing seat.

[0012] Optionally, the flip joint includes a flip seat and a flip arm, and the flip seat is fixedly connected to the top end of the lifting inner cylinder.

[0013] Optionally, the telescopic joint includes an outer cylinder and an inner cylinder, and the outer cylinder is fixedly connected to the end of the flip arm.

[0014] Optionally, the gripper joint includes a clamping drive and a clamping claw, which are fixedly connected to the top end of the inner cylinder of the telescopic joint.

[0015] Optionally, both ends of the swing arm are hinged to the two swing arm seats through pins.

[0016] Optionally, the bracket assembly includes at least two spaced-apart hanging members, and the hanging members are detachably connected to the connecting structure on the side of the mobile platform.

[0017] Optionally, the hanging member is an L-shaped steel plate, the vertical portion of which is fixedly connected to the drill rod box body, and the horizontal portion is provided with a connecting hole.

[0018] Optionally, a detachable pad is provided on the partition, and the thickness of the pad is configured according to the diameter of the drill rod, so that the drill rod box is adapted to drill rods of at least two different diameters.

[0019] Optionally, the pad is detachably fixed to the partition by bolts.

[0020] Optionally, the width of the storage cavity is achieved by increasing or decreasing the number of partitions or adjusting the positions of the partitions.

[0021] Optionally, the drill rod box body is connected to the mobile platform in a side hanging manner, and the drill rod box as a whole is located outside the side of the mobile platform.

[0022] Optionally, the bracket assembly and the mobile platform are connected by bolt connection or quick lock connection.

[0023] Optionally, four partitions are provided to divide the interior of the drill rod box body into five storage chambers.

[0024] Optionally, an array of drainage holes is provided on the bottom plate.

[0025] The beneficial effects of the present invention are:

[0026] 1. Advantages of structural design innovation

[0027] 1. The modular split structure significantly improves system assembly flexibility by physically separating the manipulator and the drill rod box. The drill rod box features an adjustable internal structure that can accommodate the storage needs of drill rods of different specifications, significantly improving equipment replacement efficiency.

[0028] 2. The optimized motion control system's multi-joint linkage mechanism, combined with precision guide components, significantly improves the accuracy of drill rod gripping and positioning. The unique fixed structure design effectively reduces the impact of vibration during operation and improves reliability in confined space operations.

[0029] 3. Enhanced structural stability The lateral suspension installation method improves the overall center of gravity distribution of the system, significantly enhancing the equipment's ability to resist bumps during movement and greatly reducing safety risks when operating in complex terrain.

[0030] 2. Improvement of Engineering Application Value

[0031] 1. Optimized construction efficiency: The quick-change design significantly shortens the time required to adjust drill pipe specifications. It is particularly suitable for operations in complex geological conditions where frequent drill pipe changes are required, effectively ensuring the overall construction progress.

[0032] 2. Improved maintenance convenience: The modular design simplifies fault diagnosis and component replacement, significantly shortening maintenance cycles. The protective design of key components extends the service life of the equipment under harsh working conditions.

[0033] 3. Energy consumption management optimization The optimized motion trajectory design reduces energy consumption, and the intelligent standby mode further reduces invalid energy consumption, thereby improving the economic efficiency of equipment operation.

[0034] 3. Comprehensive Benefits

[0035] This system improves the overall performance of drill pipe handling operations through structural innovation. Its modular concept not only resolves operational bottlenecks in existing technologies but also provides a platform for subsequent functional expansion. It has demonstrated significant application value in drilling operations under various complex geological conditions.

[0036] 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

[0037] 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:

[0038] Figure 1 This is a schematic diagram of the overall structure of this scheme;

[0039] Figure 2 Axonometric drawing of the drill rod grabbing manipulator;

[0040] Figure 3 This is the main view of the drill rod grabbing manipulator;

[0041] Figure 4 It is the local view of the translation joint;

[0042] Figure 5 This is the overall view of the directional drilling rig;

[0043] Figure 6 This is the axonometric drawing of the drill rod box of this scheme;

[0044] Figure 7 This is the main view of the drill rod box of this scheme;

[0045] Figure 8 Schematic diagram of the coordination between the drill rod grabbing manipulator and the drill rod box.

[0046] Figure 1: Manipulator 1, drill rod box 2, mobile platform 3, anchoring system 4, frame 5, clamp 6, hydraulic system 7, control system 8, power head 9; fixing mechanism 101, translation joint 102, lifting joint 103, flip joint 104, telescopic joint 105, claw joint 106, swing arm seat 10101, swing arm 10102, pin 10103, bracket 10201, track 10202, slider 10203, translation sensor 10204, translation Motor 10205, bearing seat 10206, lifting cylinder 10301, lifting outer cylinder 10302, lifting inner cylinder 10303, flip seat 10401, flip arm 10402, flip shaft 10403, flip driver 10404, telescopic cylinder 10501, telescopic sensor 10502, clamping drive 10601, drill pipe box body 201, bracket 202, bottom plate 203, side plate 204, partition 205, pad 206, drainage hole 207. DETAILED DESCRIPTION

[0047] 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.

[0048] 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.

[0049] 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.

[0050] See also Figures 1 to 8 The present invention provides a drill rod loading and unloading system for easily replacing a drill rod box, comprising a drill rod box 2 and a drill rod grabbing manipulator 1. The drill rod box 2 comprises a main body 201, several partitions 205, and a bracket assembly. The main body 201 comprises a bottom plate 203 and two vertical panels (side panels 204) forming an open-top frame structure. The partitions 205 are vertically arranged within the main body 201 to form multiple rows of storage cavities. The bracket assembly is fixedly connected to the bottom of the main body 201 and is used to laterally mount the drill rod box 2 on the outer side of a mobile platform 3.

[0051] The drill rod grabbing robot 1 comprises a fixed mechanism 101 and a horizontal displacement mechanism. The fixed mechanism 101 comprises two spaced connection points fixed to the mobile platform 3 and swing arms 10102 connected at either end. The horizontal displacement mechanism comprises a support frame 10201 fixed to the swing arm 10102; a track 10202 and a slider 10203 mounted on the support frame 10201; a support base 10206 slidably assembled via a guide assembly; and a translation motor 10205 that drives the support base 10206 horizontally. The drill rod grabbing robot 1 and the drill rod box 2 are designed as a separate structure, allowing the box 2 to be independently replaced to accommodate drill rods of varying specifications.

[0052] This solution is applicable to an automatic directional drilling rig, which comprises a manipulator 1, a drill pipe box 2, a mobile platform 3, an anchoring system 4, a frame 5, a clamp 6, a hydraulic system 7, a control system 8, and a power head 9. The manipulator 1 has four degrees of freedom: inclination, translation, lift, and tilt. It transports the drill pipes in the drill pipe box to the drilling axis of the main drilling machine (frame, power head). The drill pipe box 2 is an onboard storage device for the drill pipes. The mobile platform 3 is used to carry other components and systems and also has a mobile function. The anchoring system 4 stabilizes the drilling machine during operation. Hydraulic cylinders apply pressure to the tunnel roof and the ground to ensure the machine remains stable during drilling. The frame 5 supports components such as the power head and clamp, as well as the drilling feed drive. The clamp 6 is primarily responsible for clamping the drill pipe, maintaining its position within the drilled hole, and cooperates with the power head to enable threaded connection and removal of the drill pipe. The hydraulic system 7 is the drilling rig's operating power system, driven by an electric motor and outputting hydraulic power. The control system 8 mainly refers to the electronic control system, including the controller and its supporting functional modules, sensors, human-computer interaction system, drilling trajectory measurement system, etc. The power head 9 is the driving device for the rotation of the drill rod, and is connected to the frame and the drill rod to transmit the feed force to the drill rod.

[0053] Robot structure

[0054] 1. Fixing mechanism 101

[0055] Two swing arm seats 10101 are spaced apart along the length of the drill pipe and fixed to the surface of the mobile platform 3 by bolts; the sockets at both ends of the rectangular tubular swing arm 10102 are hinged to the swing arm seats 10101 through pins 10103;

[0056] Swing arm seat 10101: The connecting part between the entire manipulator and the mobile platform 3, two of which are set along the length direction of the manipulator (i.e. the length direction of the drill pipe), and are connected to the two ends of the swing arm through pins to form two rotating pairs, so that the swing arm can be tilted up and down under the drive of the tilt cylinder to adjust the inclination angle of the manipulator.

[0057] Swing arm 10102: The main support component of the manipulator. The swing arm is constructed of a rectangular or circular tube. Sockets are located at the front and rear ends of the swing arm for connecting to the swing arm base. These sockets have holes for the pins to pass through (in addition to the holes, the other two holes are weight-reducing holes). An inclination sensor mounting hole is located on the bottom or side of the swing arm. The translation joint 102 is fixed to the swing arm with bolts.

[0058] 2. Translation joint 102

[0059] The U-shaped bracket 10201 is bolted to the upper surface of the swing arm 10102; the double track 10202 is bolted to the inner side of the bracket 10201; the supporting seat 10206 is embedded in the double track 10202 through the slider 10203; the translation motor 10205 drives the supporting seat 10206 to move horizontally through the gear rack pair, and the translation sensor 10204 detects the displacement in real time.

[0060] Bracket 10201 supports the lifting joint and also provides a mounting location for the track. One end of the bracket is a connecting seat used to secure the bracket to the swing arm 10102. The main body of the bracket is a crossbeam structure, with a slide rail provided on the side facing the drill rod box (or on the side away from the drill rod box; the specific structure is slightly different). Slide rails are provided on the upper and lower sides of the track (either simultaneously or on one side), and the slide rails cooperate with the slider to form a moving pair; a rack is provided in the middle, which mates with the gear of the translation motor to form a rack and pinion pair. A certain amount of space is left between the bracket and the drill rod box to accommodate the lifting joint.

[0061] The slider is embedded in this guide rail, with one side fixedly connected to the support base 10206. Therefore, the translation motor, through a rack and pinion pair, drives the support base, which in turn drives the lifting joint horizontally. The support base connects the translation joint to the lifting joint. Translation sensor 10204 measures the displacement change during the lifting joint's translation.

[0062] 3. Lifting joint 103

[0063] The lifting outer cylinder 10302 is flange-connected to the bearing seat 10206; the lifting inner cylinder 10303 slides with the lifting outer cylinder 10302 through the inner slide rail; the cylinder of the lifting cylinder 10301 is fixed to the bottom of the lifting outer cylinder 10302, and the piston rod is connected to the lifting inner cylinder 10303.

[0064] The lifting outer cylinder 10302 is connected to the bearing seat of the translation joint. A removable inner slide rail is provided inside the lifting outer cylinder to guide the movement of the lifting inner cylinder. The cylinder barrel of the lifting oil cylinder is connected to the bottom of the lifting outer cylinder, and the piston rod is fixedly connected to the lifting inner cylinder or the flip joint. The piston rod is extended and retracted to drive the inner cylinder and flip joint to move up and down. The lifting inner cylinder is a movable component for lifting. The lower end is provided with a slider that matches the inner slide rail of the lifting outer cylinder. It is inserted into the interior of the lifting outer cylinder and is guided by a guide rail to reduce deviation during the lifting process. The upper end is fixedly connected to the flip joint to transmit the lifting motion to the flip joint.

[0065] 4. Flip joint 104

[0066] The flip seat 10401 is flange-connected to the top of the lifting inner cylinder 10303; the flip shaft 10403 is installed on the flip seat 10401 through a bearing; one end of the flip arm 10402 is key-connected to the flip shaft 10403, and the other end is flange-connected to the telescopic joint 105; the flip driver 10404 (hydraulic motor) drives the flip shaft 10403 to rotate.

[0067] The left side of the flip seat is provided with a mounting flange for the flip driver, and the left side is provided with an end cover connected with a flange, and the inner cavity is provided with a mounting hole for mounting the flip shaft. After the end cover is fixedly mounted on the flip seat, the axial position of the flip shaft can be limited.

[0068] The basic structure of the tilt shaft is a cylindrical shaft with a flange on the right end that mates with the tilt arm and a connection structure, such as a spline or key, on the left end that mates with the tilt actuator. The tilt arm is a long rod or tubular component that connects the tilt shaft to the telescopic joint. A hollow tubular shape is preferred for ease of processing and weight control.

[0069] 5. Telescopic joint 105

[0070] The outer tube flange is connected to the end of the flip arm 10402; the inner tube slides with the outer tube through a guide rail; the cylinder of the telescopic cylinder 10501 is fixed to the top of the outer tube, and the piston rod is connected to the inner tube; the telescopic sensor 10502 detects the displacement of the inner tube.

[0071] The telescopic joint is an inner-outer sleeve structure similar to a lifting joint. A telescopic cylinder 10501 is mounted on its top. The cylinder barrel is connected to the top of the outer barrel, and the piston rod is fixedly connected to the inner barrel or the grip joint. The piston rod's extension and retraction drives the grip joint up and down. A telescopic sensor 10502 is installed on the telescopic joint to measure the change in telescopic displacement.

[0072] 6. Hand joint 106

[0073] The base bolts are fixed to the top of the inner tube of the telescopic joint 105; the clamping actuator 10601 (hydraulic cylinder) drives the jaws to open and close. The claw joint can be a variety of clamping mechanisms, and the clamping actuator 10601 can be a variety of linear or rotary elements (such as a cylinder, motor, etc.). The clamping actuator drives the jaws to clamp and release, thereby clamping and releasing the drill pipe. In this application, the clamping actuator is preferably a linear cylinder.

[0074] The structure of this easily disassembled drill pipe box primarily includes core components such as the drill pipe box body 201, brackets 202, bottom plate 203, side plates 204, partitions 205, pads 206, and drain holes 207. The drill pipe box body 201 is welded from steel plates and includes the bottom plate 203 and symmetrically arranged side plates 204. Together, these three components form a U-shaped frame structure with an open top. The side plates 204 have reinforced flanges at the top and anti-collision rubber strips welded inside.

[0075] Bracket 202 utilizes two spaced L-shaped mounting brackets. Its vertical portion is secured to base plate 203 via intermittent welding. Its horizontal portion features connection holes and is bolted or fastened to the side of the mobile platform via quick-release latches. Triangular reinforcing ribs are installed at the junction of bracket 202 and base plate 203, and wear-resistant alloy blocks are embedded in the area of base plate 203 corresponding to bracket 202.

[0076] Four vertical partitions 205 are installed inside the drill rod box body 201, dividing the interior space into five storage chambers. The partitions 205 are connected to the base plate 203 via T-slots and can be adjusted within an integer multiple of each other. Pads 206 are bolted to each side of each partition 205. By replacing pads 206 of varying thickness, the drill rod box can accommodate at least two different drill rod specifications. Drain holes 207 are evenly distributed in a rectangular array on the base plate 203. The entire drill rod box is suspended laterally from the exterior of the mobile platform via brackets 202, maintaining a certain distance from the platform to facilitate access and maintenance of drill rods.

[0077] Workflow

[0078] Initial state: the manipulator 1 is in the non-interference position, and the gripper joint 106 is released;

[0079] Select the column: the control system 8 selects the column with drill rods in the drill rod box 2;

[0080] Lowering: the lifting cylinder 10301 drives the claw joint 106 to the grasping position;

[0081] Grasping: The clamping drive 10601 closes the jaws to grab the drill rod;

[0082] Lifting: the lifting joint 103 and the telescopic joint 105 lift the drill rod out of the drill rod box 2;

[0083] Translation: The translation motor 10205 drives the bearing seat 10206 to move outward, so that the drill rod moves out of the drill rod box 2 area;

[0084] Flip: The flip driver 10404 drives the drill rod to rotate 90° to the drilling axis direction;

[0085] Telescopic: Telescopic cylinder 10501 pushes the drill rod to the drilling axis of frame 5;

[0086] Connection: The power head 9 cooperates with the clamp 6 to complete the threaded connection of the drill pipe.

[0087] 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. A drill rod loading and unloading system for facilitating replacement of a drill rod box, characterized by: It includes a drill rod box and a drill rod grabbing manipulator (1); The drill rod box comprises: The drill rod box body (201) is a frame structure with an open top formed by a bottom plate (203) and two side vertical plates (204); a plurality of partitions (205) are vertically arranged inside the drill rod box body (201) to divide the internal space into multiple rows of storage chambers; a bracket assembly (202) is fixedly connected to the bottom of the drill rod box body (201) and is used to laterally hang the drill rod box on the outer side of the mobile platform; The drill rod grabbing manipulator (1) comprises: Fixing mechanism (101): Two spaced apart connection points fixed to the mobile platform (3); a swing arm (10102), both ends of which are fixedly connected to the connection points; Horizontal displacement mechanism, including: A support frame (10201) fixed to the swing arm (10102); A linear guide assembly provided on the support frame (10201); A bearing seat (10206) slidably assembled through the linear guide assembly; A linear drive assembly for driving the bearing seat (10206) to move horizontally; The drill rod grabbing manipulator (1) and the drill rod box (2) adopt a split structure, so that the drill rod box (2) can be replaced independently, thereby adapting to drill rods of different diameters and lengths.

2. The drill rod loading and unloading system for facilitating replacement of the drill rod box according to claim 1, characterized in that: The drill rod grabbing manipulator (1) further comprises: A lifting joint (103), a fixed end of which is connected to the bearing seat (10206); A flip joint (104), the base of which is connected to the output end of the lifting actuator (103); a telescopic joint (105), a fixed end of which is connected to the output end of the flip actuator (104); The hand claw joint (106) is installed at the output end of the axial telescopic mechanism (105).

3. The drill rod loading and unloading system for facilitating replacement of the drill rod box according to claim 1, characterized in that: The horizontal displacement mechanism is a translation joint (102), comprising: A bracket (10201) is fixedly mounted on the swing arm (10102); The track (10202) and the translation motor (10205) are arranged on the bracket (10201); The supporting base (10206) is driven by the translation motor (10205) to move horizontally.

4. The drill rod loading and unloading system for facilitating replacement of the drill rod box according to claim 3, characterized in that: The supporting seat (10206) is slidably connected to the track (10202) via a slider (10203) and is driven by a translation motor (10205) to move horizontally.

5. The drill rod loading and unloading system for facilitating replacement of the drill rod box according to claim 3, characterized in that: The lifting joint (103) comprises a lifting outer cylinder (10302) and a lifting inner cylinder (10303), wherein the lifting outer cylinder (10302) is fixedly connected to the bearing seat (10206).

6. The drill rod loading and unloading system for facilitating replacement of the drill rod box according to claim 5, characterized in that: The flip joint (104) comprises a flip seat (10401) and a flip arm (10402), wherein the flip seat (10401) is fixedly connected to the top end of the lifting inner cylinder (10303).

7. The drill rod handling system for facilitating replacement of the drill rod box according to claim 6, characterized in that: The telescopic joint (105) comprises an outer cylinder and an inner cylinder, wherein the outer cylinder is fixedly connected to the end of the flip arm (10402).

8. The drill rod loading and unloading system for facilitating replacement of the drill rod box according to claim 7, characterized in that: The hand claw joint (106) comprises a clamping drive member (10601) and a clamping claw, which is fixedly connected to the top end of the inner cylinder of the telescopic joint (105).

9. The drill rod handling system for facilitating replacement of a drill rod box according to claim 1, characterized in that: A detachable pad (206) is provided on the partition (205), and the thickness of the pad (206) is configured according to the diameter of the drill rod, so that the drill rod box is adapted to at least two drill rods with different diameters.

10. The drill rod handling system for facilitating replacement of a drill rod box according to claim 1, characterized in that: The support assembly (202) comprises at least two spaced-apart hanging members, and the hanging members are detachably connected to the connecting structure on the side of the mobile platform.

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