Drill rod loading and unloading system with fixed manipulator and dip angle adjustable transporter

Abstract

The invention relates to a drill rod loading and unloading system with a fixed manipulator and an inclination-angle-adjustable transporter, and belongs to the technical field of mining drilling machines. Comprising a rack, a posture adjusting device and a transporter, the posture adjusting device comprises an asynchronous rotating device and a rotating platform, a transporter gyrator and a dip angle gyrator of the asynchronous rotating device are used for driving the transporter and the rack to adjust dip angles respectively, and dip angle asynchronous rotating adjustment of the transporter and the rack is achieved. The transporter fixes the drill rod in transportation in a two-end clamping and top pressing mode, and the drill rod is prevented from falling off during inclination angle adjustment. A fixed manipulator is arranged on the rack and comprises a rotating joint, a telescopic joint and a clamping jaw assembly; a rotating shaft of the rotating joint penetrates through the rotating seat and is connected with the telescopic joint, and the rotating driver drives the rotating shaft to rotate; the telescopic joint drives the clamping jaw assembly to stretch out and draw back in the vertical direction. The functions of the manipulator are integrated, and the rotating joints and the telescopic joints are connected, so that the manipulator has the rotating function and the telescopic function at the same time, and more requirements are met.

Description

Technical Field

[0001] The invention belongs to the technical field of mining drilling rigs and relates to a drill rod loading and unloading system with a fixed manipulator and an inclination-adjustable transporter. Background Art

[0002] In the context of the intelligent coal mining strategy, drilling rig automation has become a key enabler for achieving reduced- and even unmanned underground operations. Traditional manual operation, limited by the complex underground environment and fatigue, fails to meet the dual requirements of efficient mining and inherent safety in modern coal mines. Automation technology automates the drilling process and auxiliary operations, significantly reducing labor intensity and improving safety. It also overcomes the efficiency bottleneck of manual operation, making it an inevitable choice for technological upgrades in the coal industry.

[0003] The drill rod handling system is one of the core systems of an automatic drilling rig, and the manipulator and transporter are key executive components of the drill rod conveying system, responsible for different steps in delivering drill rod from the drill rod box to the main drilling rig for drilling operations. Existing manipulators in automatic drilling rigs generally have a flip joint, which allows the manipulator to flip and deliver the drill rod and other components into the frame. The transporter generally serves as a transitional conveying device, enabling the transfer of drill rod between the two manipulators. The main problems with existing drill rod handling systems are as follows:

[0004] (1) The manipulator in the prior art is separated from the frame. During drilling, the frame is in a certain tilt state. The initial position of the drill rod is generally horizontal. The manipulator needs to frequently switch between the horizontal and tilt states. The tilt joint is easily interfered with by other components, resulting in a complex structure and sensor positioning system.

[0005] (2) The flip joint of the manipulator uses a one-time flip control, that is, the manipulator is turned to a certain angle at one time through the method of electric control or mechanical limit. During the process, it cannot stop at a specific position, which limits the control of the automatic loading and unloading process of the drill rod.

[0006] (3) Existing transporters are available in two forms: translational and horizontal rotation. Both types move in the horizontal plane, clamping the ends of a horizontally placed drill rod to align it with the drill rod box or rack. However, existing transporters lack a mechanism to fix the drill rod in the vertical plane, making them unable to move at large angles. As a result, the existing automatic drilling rigs have a limited drilling angle range, making it difficult to expand to large-angle drilling conditions.

[0007] Therefore, the structure of the manipulator and transporter of the existing drill pipe loading and unloading system limits the efficiency improvement of drill pipe loading and unloading and the drilling inclination range. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a drill rod loading and unloading system with a fixed manipulator and an inclination-adjustable transporter to solve the problem that the current drill rod transporter can only move in the horizontal plane, and to enable the manipulator to have a telescopic function while satisfying the rotation function, thereby meeting more needs.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] A drill pipe loading and unloading system with a fixed manipulator and an inclination-adjustable transporter includes a frame and an attitude adjustment device provided on one side of the frame, the attitude adjustment device including an asynchronous rotation device and a rotary platform, and the transporter is arranged between the frame and the rotary platform via the asynchronous rotation device;

[0011] The asynchronous rotation device includes a lifting sleeve, a transporter rotator, an inclination rotator, a rotation transition plate and a frame connecting plate, and 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 by the inclination rotator and the transporter rotator;

[0012] A fixed manipulator is provided on the side of the frame away from the posture adjustment device, and the fixed manipulator includes a rotating joint, a telescopic joint and a clamping claw assembly; the rotating joint includes a rotating seat and a rotating driver, and the rotating driver is arranged at one end of the rotating seat and drives the rotating shaft to rotate, and the rotating shaft passes through the rotating seat and is connected to the telescopic joint; the clamping claw assembly is connected to the bottom of the telescopic joint, and drives the clamping claw assembly to extend and retract in the vertical direction through the telescopic joint, and the clamping claw assembly is used for grasping.

[0013] Optionally, the telescopic joint includes a vertically arranged outer cylinder and an inner cylinder, the outer cylinder is detachably connected to the rotating shaft via a flange, and the inner cylinder is slidably connected to the inside of the outer cylinder; the telescopic joint also includes a telescopic cylinder, the telescopic cylinder is fixed on the top of the outer cylinder, and the inner cylinder is connected to the output end of the telescopic cylinder; the clamping jaw assembly is connected to the bottom of the inner cylinder.

[0014] Optionally, the clamping jaw assembly includes a clamping jaw and a clamping cylinder, wherein the clamping cylinder is fixed to the lower part of the inner tube, and the clamping jaw is fixed on the clamping cylinder and is clamped or released under the drive of the clamping cylinder.

[0015] Optionally, it also includes a sliding joint, the rotating seat is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator; the sliding joint includes a fixed seat and a connecting arm, the fixed seat is connected to the frame, and a horizontally arranged slide rail is provided on the fixed seat, and a sliding groove is provided at the bottom of the connecting arm, and the sliding groove cooperates with the slide rail; the rotating seat in the rotating joint is fixedly connected to the connecting arm; the sliding joint also includes a sliding cylinder, one end of the sliding cylinder is fixed to the fixed seat, and the other end is connected to the connecting arm, so that the connecting arm slides along the track.

[0016] Optionally, 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, and there are at least two support blocks, and the upper part of each support block is provided with a groove matching the outer diameter of the drill rod for supporting 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.

[0017] Optionally, the lifting sleeve includes a cavity enclosed by two side panels and a top sealing plate, sleeves are provided at both ends of the side panels, and connecting tubes are provided on the side panels; 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.

[0018] Optionally, a flange is provided on the connecting tube; the rotary transition plate is disc-shaped, comprising three sets of flanges arranged side by side, the inner flange is connected to the flange of the connecting tube, and the two sets of outer flanges are respectively used to install the transporter rotator and the frame connecting plate.

[0019] Optionally, the transporter rotator includes a first fixed ring and a first rotating ring arranged thereon, the first fixed ring being 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.

[0020] Optionally, the frame connecting plate is disc-shaped and includes two groups of flanges connected to each other, and the two groups of flanges are respectively connected to the flange of the slewing transition plate and the inclination rotator; 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.

[0021] Optionally, 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 the loading or removing of the drill rod; 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; 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 block.

[0022] The beneficial effects of the present invention are:

[0023] In response to the problem that the existing drill rod transporter can only move in the horizontal plane, lacks a drill rod fixing mechanism in the vertical plane, and the drill rod is easy to fall during inclination movement. The present invention adopts an inclination rotator and a transporter rotator to adjust the inclination of the frame and the transporter respectively. The two cooperate with each other to enable the transporter to perform a wide range of inclination adjustment in the vertical plane. The drill rod in transit is fixed by clamping the drill rod at both ends in combination with pressing at the top, thereby avoiding the drill rod from falling during inclination adjustment; wherein the sliders at both ends can slide inward or outward along the length direction of the bottom plate, which is convenient for adjusting the internal space of the transporter and reducing obstacles during loading and unloading; when the drill rod is placed in the groove of the support block, the pressure plate presses the drill rod from the vertical direction, and the slider slides inward to press the drill rod from both ends, 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.

[0024] The present invention aims to address the problem that the inclination joints of the existing drill rod conveying manipulator are complex, resulting in a more complex structure and sensor positioning system; and the problem that the existing drill rod conveying manipulator can only be flipped once and cannot pause during the process. The present invention integrates the rotating joint and the telescopic joint so that the manipulator can have a telescopic function while satisfying the rotation function, so that the manipulator can meet more functional requirements. The rotating joint can satisfy the rotation of the manipulator at a certain angle, which means that all materials within this angle range can be grasped by the manipulator; in addition, combined with the telescopic effect of the telescopic joint, it should be noted that the telescopic joint has at least one component force whose telescopic direction is perpendicular to the axial direction of the rotating joint, so that the grasping range of the manipulator continues to expand within the original rotation angle range, thereby obtaining a wider range of applicability. In addition, the manipulator of the present invention is fixedly connected to the frame, eliminating the inclination joint, simplifying the overall structure, and always maintaining the same inclination state with the frame during drilling, which is not easy to interfere with other components.

[0025] 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

[0026] 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:

[0027] Figure 1 This is the overall schematic diagram of the drill pipe loading and unloading system;

[0028] Figure 2 It is a partial schematic diagram of the transfer mechanism;

[0029] Figure 3 This is a schematic diagram of the assembly of the fixed manipulator and the frame;

[0030] Figure 4 This is the main view of the fixed manipulator;

[0031] Figure 5 It is a side view of the fixed manipulator;

[0032] Figure 6 It is a cross-sectional view of an asynchronous rotating device;

[0033] Figure 7 It is the side view of the lifting sleeve shaft;

[0034] Figure 8 This is the axonometric view of the transporter;

[0035] Figure 9 This is the front view of the transporter.

[0036] Reference numerals:

[0037] 7 Attitude adjustment device, 702 Rotating platform, 704 Lifting column, 705 Lifting sleeve, 70501 Side plate, 70502 Sleeve, 70503 Connecting cylinder, 706 Lifting cylinder, 709 Transporter rotator, 710 Inclination rotator, 712 Rotating transition plate, 713 Frame connecting plate, 8 Transporter, 801 Bottom plate, 802 Support block, 803 Pressing plate, 804 Pressing cylinder, 805 Sliding block, 806 Sliding oil Cylinder, 9 manipulator, 901 fixed seat, 902 rotation driver, 903 rotation seat, 904 rotation sensor, 905 rotation shaft, 906 telescopic cylinder, 907 outer cylinder, 908 inner cylinder, 909 clamping cylinder, 910 clamping claw, 911 connecting arm, 912 sliding cylinder, 90401 sensor seat, 90402 sensor body, 90403 trigger ring, 10 power head, 11 frame, 12 clamper. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] Example 1:

[0042] See also Figures 1 to 9 The system is a drill pipe loading and unloading system with a fixed manipulator and an inclination-adjustable transporter. The system comprises a frame 11 and an attitude adjustment device 7 mounted on one side of the frame 11. The attitude adjustment device 7 comprises an asynchronous rotation device and a rotary platform 702. The transporter 8 is positioned between the frame 11 and the rotary platform 702 via the asynchronous rotation device. A fixed manipulator 9 is mounted on the side of the frame 11 away from the attitude adjustment device 7. The frame 11 is also provided with a clamp 12 and a power head 10. The clamp 12 is used to clamp the drill pipe. The power head 10 is a driving device for the drill pipe's rotation and connects the frame 11 and the drill pipe, transmitting force to the drill pipe and cooperating with the clamp 12 to connect or disconnect the drill pipe.

[0043] The fixed manipulator 9 comprises a rotating joint, a telescopic joint, and a gripper assembly. The rotating joint comprises a rotating base 903 and a rotational driver 902. The rotational driver 902 is mounted at one end of the rotating base 903 and drives a rotating shaft 905, which passes through the rotating base 903 and connects to the telescopic joint. The gripper assembly is connected to the bottom of the telescopic joint and, through the telescopic joint, drives the gripper assembly to extend and retract vertically, thus enabling gripping.

[0044] The present invention connects a rotating joint and a telescopic joint, so that the manipulator 9 can have a telescopic function while satisfying the rotation function, thereby meeting more functional requirements. The rotating joint can satisfy the rotation of the manipulator 9 at a certain angle, which means that any material within this angle range can be grasped by the manipulator 9; in addition, combined with the telescopic effect of the telescopic joint, it should be noted that the telescopic joint has at least one component force whose telescopic direction is perpendicular to the axial direction of the rotating joint, so that the grasping range of the manipulator 9 continues to expand within the original rotation angle range, thereby obtaining a wider range of applicability.

[0045] In addition, in the present invention, the manipulator 9 is fixedly connected to the frame 11, eliminating the need for an inclination joint, simplifying the overall structure, and always maintaining the same inclination angle with the frame 11 during drilling, making it less likely to interfere with other components;

[0046] Furthermore, the telescopic assembly includes a vertically arranged outer cylinder 907 and inner cylinder 908. The outer cylinder 907 is connected to the rotating shaft 905, the inner cylinder 908 is slidably connected to the interior of the outer cylinder 907, and the gripper assembly is connected to the bottom of the inner cylinder 908. During implementation, the inner cylinder 908 and the outer cylinder 907 of the present invention maintain relative sliding in the axial direction, with the sliding direction perpendicular to the axis of the rotating shaft 905 in the rotating joint, thereby extending the radius of the original manipulator 9 and expanding the gripping range of the manipulator 9. In addition, during installation, the inner cylinder 908 and the outer cylinder 907 should be equipped with structures such as limit rings or retaining rings to ensure that the inner cylinder 908 does not slip outside the outer cylinder 907.

[0047] Furthermore, the outer cylinder 907 is detachably connected to the rotating shaft 905 via a flange. During implementation, the telescopic joint in the present invention is suspended on a section of the rotating shaft 905, and the weight of the clamping jaw assembly requires sufficient connection strength between the rotating shaft 905 and the outer cylinder 907. Flange connection is to fix two pipes, pipe fittings or equipment on a flange plate respectively, 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 rotating shaft 905 and the outer cylinder 907 through flange connection, and the flange connection is connected by multiple bolts, so that the rotating shaft 905 and the outer cylinder 907 can be disassembled to facilitate the later inspection or replacement of each component.

[0048] In addition, the outer cylinder 907 and the inner cylinder 908 in the present invention are both hollow cylindrical structures, which reduces the weight of the telescopic joint to a certain extent and further ensures the connection strength between the outer cylinder 907 and the rotating shaft 905.

[0049] Furthermore, the telescopic joint also includes a telescopic cylinder 906, which is fixed to the top of the outer cylinder 907. The inner cylinder 908 is connected to the output end of the telescopic cylinder 906. The present invention uses the telescopic cylinder 906 to intelligently control the relative movement between the outer cylinder 907 and the inner cylinder 908, so that the clamping claw assembly located at the bottom of the inner cylinder 908 can stop at a set position and perform a grasping action. The telescopic range of the telescopic cylinder 906 is the distance that the outer cylinder 907 and the inner cylinder 908 can move relative to each other, and this distance should be less than the maximum displacement between the outer cylinder 907 and the inner cylinder 908 to prevent collision between the outer cylinder 907 and the inner cylinder 908.

[0050] Furthermore, the clamping jaw assembly includes a clamping jaw 910 and a clamping cylinder 909. The clamping cylinder 909 is fixed to the lower portion of the inner cylinder 908. The clamping jaw 910 is fixed to the clamping cylinder 909 and is clamped or released under the drive of the clamping cylinder 909. During implementation, when the rotating joint drives the clamping jaw 910 to rotate to a set angle, the telescopic function of the telescopic joint extends the clamping jaw 910 to a specified position, and finally the clamping cylinder 909 executes the grasping instruction to complete the grasping process. The telescopic joint then controls the retraction of the clamping jaw 910. After the rotating joint drives the telescopic joint and the clamping jaw 910 to rotate to the specified position as a whole, the clamping cylinder 909 executes the release instruction to release the grasped material to the specified position.

[0051] 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.

[0052] 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 on one side 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 axial compression block is hingedly connected to a pressure plate 803 and a pressure cylinder 804, wherein 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.

[0053] 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.

[0054] When the transporter 8 is waiting to load or remove a drill rod (other clamping mechanisms have already clamped the drill rod), the pressing cylinder 804 drives the pressure plate 803, which 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 pressing cylinder 804 drives the pressure plate 803 to rotate back to the pressing position. When the drill rod is placed in the transporter 8 and the transporter 8 needs to be rotated or moved, the pressing cylinder 804 drives the pressure plate 803 to press the drill rod, and the sliding cylinder 806 drives the slider 805 to move toward the center to keep the drill rod inside stable and not easy to fall.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] The asynchronous rotation principle of the drill rod transfer mechanism of the present invention is as follows:

[0062] 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.

[0063] 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.

[0064] 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.

[0065] Example 2:

[0066] The frame-fixed manipulator 9 provided by the present invention further includes a sliding joint, and the rotating seat 903 is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator 9. The difference from the first embodiment is that the present embodiment adds a sliding joint, and the remaining rotating joints and telescopic joints remain consistent with the first embodiment.

[0067] As mentioned above, the combination of the rotating joint and the telescopic joint enables the manipulator 9 to expand its grasping range. The sliding joint in this embodiment applies a horizontal displacement function to the manipulator 9, further expanding the grasping range of the manipulator 9.

[0068] 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 provided with a horizontally arranged slide rail. The bottom of the connecting arm 911 is provided with a slide groove, and the slide groove and the slide rail cooperate with each other. The rotating seat 903 in the rotating joint is fixedly connected to the connecting arm 911. During implementation, the horizontal displacement between the connecting arm 911 and the fixed seat 901 is limited by the cooperation between the rail and the slide groove, that is, the horizontal displacement direction and horizontal displacement amount of the connecting arm 911 are determined. The rotating joint and the telescopic joint in the present invention are both fixed to the connecting arm 911. Therefore, any displacement of the connecting arm 911 will drive the entire displacement of the manipulator 9. The specific horizontal displacement direction needs to be determined according to the initial position of the material and the position to be transported in actual circumstances, as well as the initial position of the manipulator 9. In other words, the rail in the sliding joint in the present invention can be set in any direction to ensure that the manipulator 9 can effectively complete the grasping process.

[0069] In addition, in Example 1, it is mentioned that the telescopic joint is suspended at one end of the rotating shaft 905, that is, the connecting arm 911 also needs to assume the supporting role of the manipulator 9. Therefore, according to the principle of leverage, without interfering with the normal extension and contraction of the 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 telescopic joint should be reduced as much as possible to ensure sufficient connection strength between the two, so as to avoid the problem of the rotating shaft 905 being damaged due to the excessive suspension of the telescopic joint. Similarly, the rotating seat 903 should also have sufficient covering area for the rotating shaft 905, and distribute the gravity of the telescopic joint and the clamping claw assembly to each part of the rotating seat 903 through the transmission shaft, and then transmit it to the fixed seat 901 as a whole through the connecting arm 911.

[0070] 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 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.

[0071] The basic working process of the drill rod loading and unloading system of the present invention includes the rod feeding process and the rod unloading process, which are specifically as follows:

[0072] (1) The process of advancing the rod

[0073] Initial state: Assume that the inclination angle of the frame 11 and the 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 open; the telescopic joint of the manipulator 9 is retracted, the rotating joint is in the state of completing the first rotation, the sliding joint is retracted, and the clamping jaws 910 are open; the drilling rig is drilling.

[0074] The transporter 8 clamps the drill rod: the drill rod is placed into the transporter 8 using the auxiliary manipulator 9, the transport boom and other devices. The slider 805 of the transporter 8 contracts inwards, and the pressure plate 803 presses the drill rod.

[0075] The transporter 8 rotates: the transporter 8 rotates from the horizontal position in the direction of the inclination angle α until the inclination angle is the same as that of the frame 11.

[0076] The manipulator 9 rotates in the opposite direction: the manipulator 9 rotates toward the transporter 8.

[0077] The manipulator 9 extends: the telescopic joint of the manipulator 9 extends toward the transporter 8.

[0078] Manipulator 9 clamping: Manipulator 9 clamps the drill rod.

[0079] The transporter 8 is released: the transport trough slider 805 expands to both sides and the pressure plate 803 is released.

[0080] The first stage of rotation of the manipulator 9: the manipulator 9 rotates clockwise, and the manipulator 9 makes room for the transporter 8 to rotate.

[0081] Manipulator 9 retracts: the telescopic joint of manipulator 9 retracts.

[0082] The manipulator 9 slides: the manipulator 9 slides toward the clamp 12 so that the drill rod is in a position suitable for being sent into the frame 11.

[0083] Manipulator 9 waits: waits for the current drill rod to complete drilling.

[0084] Transporter 8 horizontal: Transporter 8 returns to the horizontal position.

[0085] Disconnecting the drill rod in the hole: After the drilling of the current drill rod is completed, the power head 10 is disconnected from the drill rod in the hole and retreats to a position suitable for installing the drill rod.

[0086] Manipulator 9 extends: the telescopic joint of manipulator 9 extends.

[0087] The second rotation of the manipulator 9: The manipulator 9 performs the second rotation to send the drill rod into the frame 11, and the drill rod is clamped by the clamper 12 or the power head 10.

[0088] Manipulator 9 releases: Manipulator 9 releases the drill rod.

[0089] Drill rod connection: The power head 10 and the clamp 12 cooperate to complete the drill rod connection and continue drilling.

[0090] (2) Unloading process

[0091] Initial state: Assume that the inclination angle of the frame 11 and the 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 manipulator 9 is retracted, the rotation joint is in the state of completing the first rotation, the sliding joint is retracted, and the clamp 910 is open; the drilling rig has just completed drilling the last drill rod.

[0092] The power head 10 retreats: the power head 10 drags the drill rod in the hole backward;

[0093] The manipulator 9 slides: the manipulator 9 slides toward the gripper 12 and is in a position suitable for extending into the frame 11 to grab the drill rod.

[0094] Manipulator 9 waits: waits for the current drill pipe to be broken out;

[0095] 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.

[0096] 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).

[0097] Manipulator 9 extends: the telescopic joint of manipulator 9 extends.

[0098] The second rotation of the manipulator 9: The manipulator 9 performs the second rotation, and the clamping claw 910 reaches a position where it can clamp the detachable drill rod in the frame 11.

[0099] Manipulator 9 clamping: Manipulator 9 clamps the drill rod.

[0100] The clamp 12 or the power head 10 is released: the clamp 12 or the power head 10 is completely disconnected from the drill rod to be removed.

[0101] The manipulator 9 rotates in the opposite direction: the manipulator 9 rotates in the opposite direction to place the drill pipe into the transporter 8.

[0102] The transporter 8 is clamped: when 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.

[0103] Manipulator 9 releases: Manipulator 9 releases the drill rod.

[0104] Manipulator 9 retracts: the telescopic joint of manipulator 9 retracts.

[0105] The first stage of rotation of the manipulator 9: the manipulator 9 rotates clockwise to make room for the transporter 8 to rotate.

[0106] The transporter 8 is horizontal: the transporter 8 returns to the horizontal position, and the auxiliary manipulator 9, the transport boom and other devices remove the drill pipe from the transporter 8.

[0107] 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 pipe handling system with a fixed manipulator and an inclination-adjustable transporter, characterized by: The invention comprises a frame (11) and a posture adjustment device (7) arranged on one side of the frame (11), wherein the posture adjustment device (7) comprises an asynchronous rotation device and a rotary platform (702), and a transporter (8) is arranged between the frame (11) and the rotary platform (702) via the asynchronous rotation device; 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), and the frame (11) and the rotary 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 asynchronous rotation adjustment between the frame (11) and the transporter (8) is realized through the inclination rotator (710) and the transporter rotator (709); A fixed manipulator (9) is provided on the side of the frame (11) away from the posture adjustment device (7), and the fixed manipulator (9) includes a rotating joint, a telescopic joint, and a clamping claw (910) assembly; the rotating joint includes a rotating seat (903) and a rotating driver (902), the rotating driver (902) is arranged at one end of the rotating seat (903), and drives a rotating shaft (905) to rotate, and the rotating shaft (905) passes through the rotating seat (903) and is connected to the telescopic joint; the clamping claw (910) assembly is connected to the bottom of the telescopic joint, and drives the clamping claw (910) assembly to telescope in the vertical direction through the telescopic joint, and the clamping claw (910) assembly is used for grasping.

2. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 1, characterized in that: The telescopic joint comprises an outer cylinder and an inner cylinder (908) arranged vertically, wherein the outer cylinder is detachably connected to the rotating shaft (905) via a flange, and the inner cylinder (908) is slidably connected to the interior of the outer cylinder; the telescopic joint further comprises a telescopic oil cylinder, which is fixed to the top of the outer cylinder, and the inner cylinder (908) is connected to the output end of the telescopic oil cylinder; and the clamping claw (910) assembly is connected to the bottom of the inner cylinder (908).

3. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 2, characterized in that: The clamping jaw (910) assembly includes a clamping jaw (910) and a clamping cylinder (909), wherein the clamping cylinder (909) is fixed to the lower part of the inner tube (908), and the clamping jaw (910) is fixed on the clamping cylinder (909) and is clamped or released under the drive of the clamping cylinder (909).

4. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 1, characterized in that: The invention also includes a sliding joint, wherein the rotating seat (903) is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator (9); the sliding joint includes a fixed seat (901) and a connecting arm (911); the fixed seat (901) is connected to the frame (11), and a horizontally arranged slide rail is provided on the fixed seat (901); a sliding groove is provided at the bottom of the connecting arm (911), and the sliding groove cooperates with the slide rail; the rotating seat (903) in the rotating joint is fixedly connected to the connecting arm (911); the sliding joint also includes a sliding oil cylinder (912), one end of the sliding oil cylinder (912) 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.

5. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 1, characterized in that: The transporter (8) includes a base plate (801), a supporting block (802), a pressure plate (803), and an axial pressing block; the supporting block (802) is arranged on the base plate (801), and at least two supporting blocks (802) are provided, and the upper part of each supporting block (802) is provided with a groove matching the outer diameter of the drill rod for supporting the drill rod; the axial pressing block is arranged on the base plate (801) and is located on both sides of the supporting block (802); the upper part of the axial pressing block is rotatably connected to the pressure plate (803), and the pressure plate (803) is located above the supporting block (802); the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider (805) slidably arranged on the base plate (801); the pressure plate (803) presses the drill rod onto the supporting block (802).

6. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 5, characterized in that: The axial pressing block is rotatably connected to the pressing plate (803). When the transporter (8) is in a state of waiting for the drill rod to be loaded or unloaded, the pressing plate (803) is rotated and opened upward to facilitate the loading or unloading of the drill rod. A sliding cylinder (806) is provided at the bottom of the base plate (801). The sliding cylinder (806) is connected to the slider (805) to drive the slider (805) to slide along the length direction of the base plate (801). A pressing cylinder (804) is also provided on the pressing plate (803) to drive the rotation of the pressing plate (803). The pressing cylinder (804) is located on the outside of the two axial pressing blocks and is hingedly connected to the upper part of the axial pressing blocks.

7. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 1, characterized in that: The lifting sleeve (705) includes a cavity enclosed by two side plates (70501) and a top sealing plate, sleeves (70502) are provided at both ends of the side plates (70501), and a connecting tube (70503) is provided on the side plates (70501); two lifting columns (704) are arranged opposite to each other on the rotating platform (702), and a lifting cylinder (706) is provided between the two lifting columns (704); the lifting cylinder (706) of the rotating platform (702) is installed in the cavity, and under the drive of 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 the rotating transition plate (712) is installed on the connecting tube (70503).

8. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 7, characterized in that: The connecting tube (70503) is provided with a flange; the rotary transition plate (712) is disc-shaped and includes three sets of flanges arranged side by side, the inner flange is matched with the flange of the connecting tube (70503), and the two sets of outer flanges are respectively used to install the transporter rotator (709) and the frame connecting plate (713).

9. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 8, characterized in that: The transporter rotator (709) 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 (712); the first rotating ring is fixedly connected to the first outer shell, the transporter (8) is installed on the first outer shell, and the inclination angle of the transporter (8) is adjusted by rotating the first rotating ring.

10. The drill pipe handling system with a fixed manipulator and an inclination-adjustable transporter according to claim 8, characterized in that: The frame connecting plate (713) is disc-shaped and includes 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 (712) and the inclination rotator (710); 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, and the inclination angle of the frame (11) is adjusted by rotating the second rotating ring.

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