Automatic drill pipe make-up and break-out mechanism and method

Abstract

A kind of automatic loading and unloading mechanism and method of drill rod, including track-type mobile frame, mast, drill rod separation and storage mechanism, drill rod clamping and conveying mechanism, drill rod butt joint auxiliary guide and locking mechanism, controller, mast is hingedly arranged at the right side of track-type mobile frame, a drill rod hydraulic gripper is arranged at the bottom of mast, power head capable of moving up and down is arranged on mast, lengthening main shaft is arranged on power head, drill rod separation and storage mechanism includes drill rod storage mechanism, drill rod separation and conveying mechanism, drill rod clamping and conveying mechanism includes swing drive mechanism, swing arm, drill rod clamping assembly, drill rod butt joint auxiliary guide and locking mechanism are arranged on power head.The mechanism can realize the automatic loading and unloading of drill rod, can greatly improve the loading and unloading efficiency of drill rod, while reducing the labor intensity and safety risk of manual operation, so as to improve the drilling efficiency.

Description

Technical Field

[0001] This invention relates to the field of drill pipe loading and unloading technology, specifically to an automatic drill pipe loading and unloading mechanism and method. Background Art

[0002] In geological drilling or well drilling operations, when deeper drilling depths are required, a large number of drill pipes are typically used to enable continuous drilling operations. During this process, the loading and unloading of drill pipes is particularly important. During continuous drilling, operators need to constantly load new drill pipes onto the drilling rig to ensure the continuity of drilling work. After drilling is completed, the drill pipes need to be frequently and repeatedly unloaded to remove the used drill pipes.

[0003] However, current drill pipe loading and unloading operations mainly rely on the cooperation of multiple workers. Due to the significant weight of the drill pipe itself, this not only makes the loading and unloading process extremely laborious, leading to low operational efficiency and frequent safety accidents, but also increases the workload of the workers.

[0004] Even more inconvenient is that a large number of drill pipes currently require separate transport using additional vehicles. This not only increases transportation costs during drilling operations but also makes the entire drilling process more complex and cumbersome. Therefore, improving the loading, unloading, and transportation methods of drill pipes to increase drilling efficiency and reduce labor intensity and costs is an urgent problem to be solved in the field of geological drilling. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic drill pipe loading and unloading mechanism and method. This mechanism can realize the automatic loading and unloading of drill pipes, which can greatly improve the loading and unloading efficiency of drill pipes, while reducing the labor intensity of manual operations, reducing safety risks, and thus improving drilling efficiency.

[0006] The technical solution adopted by this invention to solve its technical problem is: an automatic drill pipe loading and unloading mechanism, including a tracked mobile frame, a mast, a drill pipe separation and storage mechanism, a drill pipe clamping and conveying mechanism, a drill pipe docking auxiliary guiding and locking mechanism, and a controller. The mast is hinged to the right side of the tracked mobile frame. A drill pipe hydraulic clamp is provided at the bottom of the mast. A power head capable of moving up and down is provided on the mast, and an extended spindle is provided on the power head. The drill pipe separation and storage mechanism includes a drill pipe storage mechanism and a drill pipe separation and conveying mechanism. The drill pipe storage mechanism can realize the recovery and storage of drill pipes released by the drill pipe clamping and conveying mechanism. The drill pipe separation and conveying mechanism can realize the single separation of drill pipes in the drill pipe storage mechanism and convey them to the drill pipe docking and disassembly station. The drill pipe clamping and conveying mechanism includes... The system includes a swing drive mechanism, a swing arm, and a drill pipe clamping assembly. The swing drive mechanism enables the swing arm to reciprocate left and right and position itself in a vertical plane. The rotation center axis of the swing arm is parallel to the rotation center axis of the mast. The drill pipe clamping assembly is mounted on the swing arm and can move up and down and left and right on the upper part of the swing arm. The drill pipe clamping assembly can clamp, fix, and release the drill pipe. A drill pipe docking auxiliary guide and locking mechanism is mounted on the power head. The drill pipe docking auxiliary guide and locking mechanism is used to assist in docking the drill pipe with the extended spindle and to lock the drill pipe after it is fully screwed onto the extended spindle. The controller can control the operation of the drill pipe separation and storage mechanism, the drill pipe clamping and conveying mechanism, and the drill pipe docking auxiliary guide and locking mechanism.

[0007] Preferably, the drill rod storage mechanism includes a drill rod storage basket, L-shaped support arms, a recovery guide plate, a separation limiting plate, and partition plates. The longitudinal section of the drill rod storage basket is parallelogram-shaped. The upper rear part of the drill rod storage basket is hinged to the tracked mobile frame. Two L-shaped support arms, arranged opposite each other, are fixedly installed on the upper rear part of the drill rod storage basket. The separation limiting plates are distributed along the length of the drill rod storage basket, and their left and right ends are fixedly connected to the corresponding left and right side walls of the drill rod storage basket. A drill rod passage is reserved between the vertical rod of the L-shaped support arm and the upper rear part of the separation limiting plate. Several partition plates are fixedly installed at equal intervals along the front side of the separation limiting plate. The bottoms of the partition plates and the separation limiting plate are flush. The partition plates and the separation limiting plate are flush with the inner bottom plane of the drill rod storage basket. A first single-layer drill rod conveying channel is formed between the separation limiting plate and the inner rear wall of the drill rod storage basket. A single-row drill rod storage cavity is formed between the separation limiting plate and the partition plate, and between two adjacent partition plates. The single-row drill rod storage cavity is connected to the first single-layer drill rod conveying channel, and the first single-layer drill rod conveying channel is connected to the drill rod separation channel. The upper parts of the partition plates are lowered sequentially from back to front. The rear part of the recovery guide plate is hinged to the upper part of the vertical rod of the L-shaped support arm, and the upper part of the recovery guide plate can press against the upper part of the separation limiting plate by the pushing action of the torsion spring. A first photoelectric detection switch for detecting drill rods moved to the two L-shaped support arms is provided on the tracked mobile frame. The first photoelectric detection switch is electrically connected to the controller.

[0008] Furthermore, the drill rod separation and conveying mechanism includes a first hydraulic cylinder and a conveying chain. The fixed end of the first hydraulic cylinder is hinged to the tracked mobile frame, and the telescopic end of the first hydraulic cylinder is hinged to the lower rear side of the drill rod storage basket. Two conveying chains are spaced apart along the left-right direction on the rear side wall of the drill rod storage basket. Several drill rod support plates are provided on the conveying chains. Only one drill rod can be stored between two adjacent drill rod support plates. During the rotation of the conveying chain, the drill rod support plate can lift the first drill rod at the rear of the first single-layer drill rod conveying channel into the drill rod separation channel and can release the drill rod onto the two L-shaped support arms.

[0009] Furthermore, the swing drive mechanism is a rotary hydraulic cylinder, which is fixedly mounted on the tracked mobile frame.

[0010] Furthermore, the swing arm includes a fixed support arm and a telescopic arm. The lower part of the fixed support arm is fixedly mounted on the rotating head of the rotary cylinder. The bottom of the telescopic arm is sleeved inside the upper part of the fixed support arm. A second hydraulic cylinder is provided on the fixed support arm to realize the vertical movement of the telescopic arm. A linear reciprocating drive mechanism is provided on the telescopic arm. The linear reciprocating drive mechanism can move left and right. The drill rod clamping assembly is mounted on the linear reciprocating drive mechanism. The drill rod clamping assembly includes a support frame, jaws, and a third hydraulic cylinder. A drill rod groove is provided on the right side of both the upper and lower support plates of the support frame. The two jaws are hinged between the two support plates. The third hydraulic cylinder can push the corresponding jaws to press and fix the drill rod in the drill rod groove.

[0011] Furthermore, a first angle sensor that rotates coaxially with the fixed support arm is provided on the outside of the fixed support arm, and a second angle sensor that rotates coaxially with the mast is provided on the outside of the rotating support shaft. Both the first angle sensor and the second angle sensor are fixedly mounted on the tracked mobile frame, and both the first angle sensor and the second angle sensor are electrically connected to the controller.

[0012] Furthermore, the drill pipe docking auxiliary guiding and locking mechanism includes a fourth hydraulic cylinder, a sliding sleeve, a rotating connecting assembly, a guide block, and a locking block. Two fourth hydraulic cylinders are fixedly mounted on both sides of the extended spindle. The sliding sleeve is slidably fitted onto the extended spindle, and the sliding sleeve and the extended spindle can rotate synchronously. The rotating connecting assembly is located on the outer wall of the sliding sleeve and is fixedly connected to the telescopic ends of the two fourth hydraulic cylinders. The inner front side of the sliding sleeve is conical, and three stepped limiting holes evenly distributed along its circumference are provided on the front side of the sliding sleeve. A guide block is slidably fitted into each stepped limiting hole. The guide block encloses... The system includes a limiting block and hemispheres. The hemispheres are fixedly installed at the bottom of the limiting block. Under the push of a spring, the hemispheres can extend from the bottom of the stepped limiting hole. After the three hemispheres are fully extended in the stepped limiting hole, the diameter of the inscribed circle between the three hemispheres is equal to the diameter of the end of the tapered threaded connector of the drill rod. The locking block is a fan-shaped body cut radially from the outer circle of the extended spindle to the internal thread. The three fan-shaped bodies are arranged in the same position as the three stepped limiting holes in the circumferential direction. After the sliding sleeve retracts to the initial position, the hemisphere of the guide block presses against the fan-shaped body under the push of the spring, so that the fan-shaped body can press against the corresponding external thread of the drill rod.

[0013] Further, the rotating connection assembly includes a deep groove ball bearing, an annular top pressure ring, a retaining washer, a round nut, and an annular chuck. The deep groove ball bearing is fitted onto the shoulder of the sliding sleeve. The annular top pressure ring, retaining washer, and round nut are sequentially fitted onto the sliding sleeve. The annular chuck is clamped onto the outer ring of the deep groove ball bearing. A retaining ring for limiting the displacement of the deep groove ball bearing is provided inside the annular chuck. Two connecting plates are fixedly provided on the outer side wall of the annular chuck. The outer end of each connecting plate is fixedly connected to the telescopic end of a corresponding fourth hydraulic cylinder. A positioning ring located outside the stepped limiting hole is fixedly provided on the outer side of the sliding sleeve. The positioning ring has a threaded hole that communicates vertically with the stepped limiting hole. The spring is fitted into the corresponding threaded hole. An adjusting bolt for pressing the spring is provided at the upper part of the threaded hole.

[0014] An automatic drill pipe loading and unloading method includes the aforementioned automatic drill pipe loading and unloading mechanism. This method further includes an automatic drill pipe loading method and an automatic drill pipe unloading method. Before automatically loading or unloading the drill pipe, under the condition that the drilling angle of the mast is determined, the linear reciprocating drive mechanism is controlled using a control program set in the controller. This allows the drill pipe held on the drill pipe clamping assembly to move to the drill pipe docking and disassembly position under the drive of the swing arm. After adjusting the position of the drill pipe clamping assembly on the swing arm according to the drilling inclination angle of the mast, the automatic drill pipe loading method includes the following steps:

[0015] S1. Before automatically loading the drill pipe, ensure that the swing arm is in the initial position and that a certain number of drill pipes are stored in the drill pipe storage basket.

[0016] S2. The operator sends an automatic drill rod loading command to the controller via the control panel. Upon receiving the command, the controller activates the first hydraulic cylinder. After the first hydraulic cylinder stops, the conveyor chain moves, causing a drill rod to enter the two L-shaped support arms. At this point, the drill rod also enters the two drill rod grooves below it. After the first photoelectric detection switch detects the drill rod, the conveyor chain stops rotating. Simultaneously, the controller activates the third hydraulic cylinder to clamp and fix the drill rod. Then, the controller activates the rotary cylinder to move the swing arm to the drill rod docking and disassembly station. After the swing arm stops swinging, the controller activates the fourth hydraulic cylinder to extend the sliding sleeve downwards. After the sliding sleeve extends to its position, the controller activates the power head and extended spindle, causing the power head to slowly descend on the mast while the extended spindle rotates synchronously. As the drill head slowly moves downward, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle in real time. When the oil pressure value rises and reaches the set threshold, the controller stops the descent of the power head and the extended spindle from rotating, and the fourth hydraulic cylinder returns to the initial working position. Then, the drill rod clamping assembly releases the drill rod and returns to the initial working position. Then, the power head and the extended spindle are restarted, so that the drill rod docked with the extended spindle rotates and slowly moves downward. During the slow downward movement of the drill rod, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle in real time. When the oil pressure value rises and reaches the set threshold, the controller stops the descent of the power head and the extended spindle from rotating. At this time, the docking of the drill rod on the extended spindle with the drill rod clamped and fixed by the drill rod hydraulic clamp is completed, thus completing the automatic docking process of one drill rod.

[0017] After adjusting the position of the drill pipe clamping assembly on the swing arm according to the drilling inclination angle of the mast, the automatic unloading method of the drill pipe includes the following steps:

[0018] S1. Before the automatic unloading of the drill rods, ensure that at least two drill rods have been drilled into the ground; at the same time, ensure that the swing arm is in the initial position and the drilling rig is in the stopped drilling state.

[0019] S2. The operator sends an automatic drill pipe unloading command to the controller via the control panel. Upon receiving the command, the controller activates the power head, moving it upwards along the mast to a set position. After the power head stops moving upwards, the hydraulic drill pipe holder is activated. Once the hydraulic drill pipe holder completes its clamping action, the power head slowly and synchronously moves upwards a certain distance while the extension spindle rotates. When the power head reaches its designated position, it stops moving, simultaneously stopping the extension spindle's rotation, thus completely disengaging the drill pipe from the hydraulic drill pipe holder. Then, the system is activated... The rotary cylinder causes the swing arm to swing the drill pipe clamping assembly to the drill pipe docking and disassembly station. After the swing arm stops swinging, the third hydraulic cylinder is activated to clamp the drill pipe at the docking and disassembly station. Then, the controller activates the fourth hydraulic cylinder to extend the sliding sleeve downwards to a set value, causing the hemisphere of the guide block to leave the locking block. The power head and extended spindle are then restarted. As the extended spindle rotates and disengages from the drill pipe, the power head slowly moves upwards a certain distance. After the power head stops moving, the controller activates the rotary cylinder again to cause the swing arm to swing in the opposite direction. During continuous oscillation, the first angle sensor transmits the detected tilt angle value of the swing arm to the controller in real time. When the controller determines that the tilt angle of the swing arm is greater than the set threshold, it releases the gripper from the drill rod. After the gripper releases the drill rod, the swing arm and the second hydraulic cylinder return to their initial working positions. The drill rod separates from the drill rod clamping assembly under the obstruction of the two recovery guide plates and automatically rolls into the drill rod storage basket. After the swing arm returns to its initial position, the controller starts the power head and the extended spindle, causing the power head to slowly descend on the mast while simultaneously... The extended spindle rotates synchronously. As the power head slowly moves downward, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle in real time. When the oil pressure value rises and reaches the set threshold, the controller stops the power head from descending and the extended spindle from rotating. The fourth hydraulic cylinder is activated to drive the sliding sleeve back to its initial position, so that the hemisphere of the guide block is pressed against the locking block by the spring. After the extended spindle stops rotating, the drill pipe hydraulic clamp releases the drill pipe from the drill pipe. At this point, the unloading process of one drill pipe is completed.

[0020] The beneficial effects of this invention are as follows: The invention has a simple structure, facilitating its manufacturing; it enables automatic loading and unloading of drill rods during drilling, thereby improving loading and unloading efficiency. Furthermore, during loading and unloading, no manual intervention is required, significantly reducing labor intensity and preventing accidents; the linear reciprocating drive mechanism allows adjustment of the vertical distance between the hydraulic clamping assembly and the telescopic arm, enabling the hydraulic clamping assembly to adapt to loading and unloading drill rods on masts with different inclination angles; the drill rod separation and storage mechanism enables effective separation of individual drill rods, with a simple, safe, and reliable separation process; and when docking the drill rod with the extended spindle, the tapered opening of the sliding sleeve is utilized... The combination of the three hemispheres guides the drill pipe's mating end, thereby improving the efficiency and success rate of docking the drill pipe with the extended spindle. The drill pipe storage basket on the tracked mobile frame allows for the carrying of large quantities of drill pipes, eliminating the need for separate transport and reducing drilling costs. After the drill pipe and extended spindle are threaded together, the spring's pressure on the guide block causes the locking block to press against the external thread of the drill pipe, locking the extended spindle and drill pipe together. During drill pipe disassembly, the locking feature between the extended spindle and drill pipe ensures that the drill pipe and extended spindle remain connected while allowing for disassembly and separation between adjacent drill pipes, thus enabling automated drill pipe disassembly. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 A front view of the distribution of the drill pipe docking auxiliary guidance and locking mechanism on the power head;

[0024] Figure 3 A longitudinal sectional view of one embodiment of the auxiliary guidance and locking mechanism for drill pipe docking distributed on the power head;

[0025] Figure 4 A top view of one embodiment of the auxiliary guidance and locking mechanism for drill pipe docking distributed on the power head;

[0026] Figure 5 for Figure 3 Cross-sectional view of the sliding sleeve at point AA;

[0027] Figure 6 A schematic diagram illustrating an example of a drill pipe docking auxiliary guide and locking mechanism that assists in docking the drill pipe with the extended spindle.

[0028] Figure 7 This is a front view of the drill pipe separation and storage mechanism;

[0029] Figure 8 A schematic diagram illustrating the state of single-piece separation and transport of drill pipes for the drill pipe separation and storage mechanism;

[0030] Figure 9 for Figure 1 Enlarged view of point A in the middle;

[0031] Figure 10 for Figure 1 Enlarged view at point B in the middle;

[0032] Figure 11 for Figure 1 Enlarged view at point C;

[0033] Figure 12 for Figure 3 Enlarged view at point D;

[0034] Figure 13 for Figure 3 Enlarged view at point E in the middle;

[0035] Figure 14 for Figure 7 Enlarged view at point F;

[0036] Figure 15 This is the main view of the locking block;

[0037] Figure 16 for Figure 6 Enlarged view at point G;

[0038] Figure 17 This is a partial schematic diagram of the drill pipe clamping assembly;

[0039] Figure 18 This is a schematic diagram of the semi-circular protective cover.

[0040] In the diagram: 1 Tracked mobile chassis, 2 Mast, 21 Drill pipe hydraulic clamp, 22 Power head, 221 Extended spindle, 23 Rotary support shaft, 231 Second angle sensor, 31 Drill pipe storage mechanism, 311 Drill pipe storage basket, 312 L-shaped support arm, 3121 first support shaft, 3122 vertical rod, 313 recovery guide plate, 3131 torsion spring, 314 separation limit plate, 315 partition plate, 32 drill pipe separation and conveying mechanism, 321 first hydraulic cylinder, 322 conveying chain, 3221 drill pipe support plate, 323 first photoelectric detection switch, 41 rotary cylinder, 42 swing arm, 421 fixed support arm, 422 telescopic arm, 423 first angle sensor, 431 guide rod, 4311 fixed limit rod, 432 lead screw, 4321 moving slider, 433 servo motor, 434 support frame, 4341 support arm, 435 gripper, 436 third hydraulic cylinder, 44 second Hydraulic cylinder, 51 fourth hydraulic cylinder, 511 connecting plate, 52 sliding sleeve, 521 stepped limiting hole, 53 rotating connecting assembly, 531 deep groove ball bearing, 532 annular top pressure ring, 533 stop washer, 534 round nut, 535 annular chuck, 54 guide block, 541 limiting block, 542 hemisphere, 55 positioning ring, 56 adjusting bolt, 57 spring, 58 fixing bolt, 59 locking block, 101 drill rod, 102 drill rod separation channel, 103 first single-layer drill rod conveying channel, 104 single-row drill rod storage cavity, 105 drill rod passage, 106 sealing ring, 107 telescopic flexible bellows dust cover, 108 semi-annular protective cover. Detailed Implementation

[0041] The following will describe specific embodiments and appendices. Figure 1-18 The technical solutions in the embodiments of the present invention are clearly and completely described below. Obviously, the described embodiments are only some preferred embodiments of the present invention, and not all embodiments. Those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0042] An automatic drill pipe loading and unloading mechanism (such as...) Figure 1As shown, the system includes a tracked mobile chassis 1, a mast 2, a drill pipe separation and storage mechanism, a drill pipe clamping and conveying mechanism, a drill pipe docking auxiliary guiding and locking mechanism 5, and a controller. In the existing drilling rig technology field, the tracked mobile chassis 1 is a known, commonly used, and mature component. It is used to realize the movement of the entire drilling rig and to provide stable support for related execution components on the drilling rig. Therefore, the detailed structure and working principle of the tracked mobile chassis 1 will not be described in detail here. The mast 2 is a known essential component on existing drilling rigs, used to realize the adjustment and positioning of the drilling angle and to provide support for the drill pipe... The drive components provide stable support; therefore, the detailed structural composition of mast 2 will not be described in detail here. Mast 2 is hinged to the right side of the tracked mobile frame 1. Specifically, a rotating support shaft 23 is located in the middle right region of the tracked mobile frame 1. The lower left side of mast 2 is slidably fitted onto the rotating support shaft 23. Two luffing hydraulic cylinders are located on the left side of mast 2 on the tracked mobile frame 1. The bottoms of the two luffing hydraulic cylinders are hinged to the tracked mobile frame 1, and the upper parts are hinged to the middle left region of mast 2. The two luffing hydraulic cylinders utilize... The extension and retraction of the hydraulic cylinder enables the mast 2 to rotate around the rotating support shaft 23. A drill pipe hydraulic clamp 21 is installed at the bottom of the mast 2. The drill pipe hydraulic clamp 21 is a known and mature technology product in the existing drilling rig technology field, mainly used for clamping and fixing the drill pipe. Therefore, the detailed structure and working principle of the drill pipe hydraulic clamp will not be described in detail here. A power head 22 capable of vertical movement is installed on the mast 2. The power head 22 is a known and mature technology product in the drilling rig technology field, and its vertical movement on the mast 2 is achieved through… Since the implementation method is based on existing mature technology, the specific structure of the power head 22 and the specific implementation method for its vertical movement on the mast 2 will not be described in detail. An extended spindle 221 is provided on the power head 22. The extended spindle 221 is also a known mature technology product in the existing technical field. It is used to connect with the drill pipe and drive the drill pipe. The extended spindle 221 is rotated by a hydraulic motor provided on the power head. In actual application, the drilling operation of the drill pipe can be realized by the continuous downward movement of the power head 22 and the rotation of the extended spindle 221.In this specific embodiment, the controller can be a commonly used PLC controller in the field of industrial automation technology. The drill rod separation and storage mechanism includes a drill rod storage mechanism 31 and a drill rod separation and conveying mechanism 32. The drill rod storage mechanism 31 can realize the recovery and storage of drill rods 101 released by the drill rod clamping and conveying mechanism. By utilizing the storage capacity of the drill rod storage mechanism 31 for drill rods 101, the unloading operation of drill rods can be continuously carried out. At the same time, it is also convenient to use the tracked mobile frame 1 to carry and transport a large number of drill rods 101. The drill rod separation and conveying mechanism 32 can realize the single drill rod 101 in the drill rod storage mechanism 31. The drill pipe is separated and transported to the drill pipe docking and disassembly station, which refers to the position where the drill pipe is docked and separated from the extended spindle 221. After the drill pipe 101 is separated and transported individually using the drill pipe separation and transport mechanism 32, it is convenient for the drill pipe clamping and transport mechanism to transport the drill pipe 101 towards the mast 2, thereby facilitating the subsequent docking of the drill pipe 101. The drill pipe clamping and transport mechanism includes a swing drive mechanism, a swing arm 42, and a drill pipe clamping assembly. The swing drive mechanism can drive the swing arm 42 to swing and position left and right in the vertical plane. In this specific embodiment, the swing drive mechanism can be a rotary cylinder 41. Cylinder 41 is a known mature technology product in the existing technical field, so the specific structure and working principle of the rotary cylinder 41 will not be described in detail. The rotation center axis of the swing arm 42 is parallel to the rotation center axis of the mast 2. The drill rod clamping assembly is set on the swing arm 42, and the drill rod clamping assembly can move up and down and left and right on the upper part of the swing arm 42. The drill rod clamping assembly can realize the clamping, fixing and releasing of the drill rod 101. In this specific embodiment, since the rotation center axis of the swing arm 42 and the rotation center axis of the mast 2 are not coaxial, and since the drilling angle of the mast 2 is not always perpendicular to the ground, the following is used: The left-right movement adjustment and positioning capability of the drill pipe clamping assembly on the swing arm 42 allows the drill pipe clamping assembly to adapt to the tilt angle change of the mast 2. After the tilt angle of the mast 2 is adjusted, the left-right adjustment capability of the drill pipe clamping assembly can be used to make the drill pipe 101 adapt to the angle adjustment change of the mast 2. This allows the drill pipe clamping assembly to accurately transport the drill pipe 101 on it to the bottom of the extended spindle 221 on the mast 2, achieving precise docking of the drill pipe 101 and the extended spindle 221. At the same time, it also facilitates the precise clamping of the drill pipe 101 after it is separated from the extended spindle 221, enabling the disassembly operation of the drill pipe 101.The drill pipe docking auxiliary guide and locking mechanism 5 is mounted on the power head 22. This mechanism assists in docking the drill pipe 101 with the extended spindle 221 and simultaneously locks the threaded connection between the extended spindle 221 and the drill pipe 101. In practical applications, the limiting and guiding function of the drill pipe docking auxiliary guide and locking mechanism 5 on the docking thread end of the drill pipe 101 improves the success rate of docking between the drill pipe 101's docking thread end and the extended spindle 221. During automatic drill pipe unloading, it ensures that the thread near the drill pipe hydraulic clamp 21 end of the drill pipe 101 is unscrewed first, and then, in conjunction with the drill pipe clamping and conveying mechanism, the connecting thread between the drill pipe 101 and the extended spindle 221 is unscrewed. The controller controls the operation of the drill pipe separation and storage mechanism, the drill pipe clamping and conveying mechanism, and the drill pipe docking auxiliary guide and locking mechanism. Based on its internally programmed control procedures and relevant feedback signals, the controller can achieve coordinated control of the power head 22, drill pipe separation and storage mechanism, drill pipe clamping and conveying mechanism, drill pipe docking auxiliary guiding and locking mechanism, and drill pipe hydraulic clamp 21. This facilitates automated control of the loading and unloading of the drill pipe 101.

[0043] Based on the above embodiments, the specific implementation of the drill rod storage mechanism is as follows: The drill rod storage mechanism includes a drill rod storage basket 311, an L-shaped support arm 312, a recovery guide plate 313, a separation limiting plate 314, and a partition plate 315. The longitudinal section of the drill rod storage basket 311 is parallelogram-shaped. In practical applications, the drill rod storage basket 311 can be manufactured by welding several square tubes, and the left and right sides of the drill rod storage basket 311 can be closed using two flat plates. The upper rear part of the drill rod storage basket 311 is hinged to the tracked mobile frame 1, that is, in practical applications, the drill rod storage basket 311 can rotate, thereby allowing its internal storage to be... The drill rod 101 can flow at an angle in one direction; two L-shaped support arms 312, arranged opposite each other, are fixedly installed on the upper rear side of the drill rod storage basket 311, and the L-shaped support arms 312 rotate synchronously with the drill rod storage basket 311; the separation limiting plate 314 is distributed along the length of the drill rod storage basket 311, and the left and right ends of the separation limiting plate 314 are fixedly connected to the left and right side walls of the corresponding drill rod storage basket 311, that is, the separation limiting plate 314 is fixedly supported by the left and right side walls of the drill rod storage basket 311; a drill rod passage is reserved between the vertical rod 3122 of the L-shaped support arm 312 and the upper rear side of the separation limiting plate 314. In practical applications, when the drill rod 101 located on the L-shaped support arm 312 is moved upward using the drill rod clamping assembly, the drill rod 101 will move out through the drill rod passage 105. Several partition plates 315 are fixedly arranged at equal intervals along the front-rear direction on the front side of the separation limiting plate 314. To facilitate single-layer separation of the drill rod 101, the vertical distance between two adjacent partition plates 315 can be slightly larger than the diameter of the drill rod 101. The bottoms of the partition plates 315 and the separation limiting plate 314 are flush, forming a first single-layer drill rod conveying layer between the partition plates 315 and the separation limiting plate 314 and the inner bottom plane of the drill rod storage basket 311. Channel 103 forms a drill rod separation channel 102 between the rear side wall of the separation limiting plate 314 and the inner rear side wall of the drill rod storage basket 311. A single row of drill rod storage cavities 104 are formed between the separation limiting plate 314 and the partition plate 315 and between two adjacent partition plates 315. The single row of drill rod storage cavities 104 are connected to the first single-layer drill rod conveying channel 103. The first single-layer drill rod conveying channel 103 is connected to the drill rod separation channel 102. The upper parts of the partition plates 315 are lowered from back to front, which makes it easier for the drill rod 101 to roll during storage, so as to achieve full filling of the drill rod 101 in the drill rod storage basket 311.The rear part of the recovery guide plate 313 is hinged to the upper part of the vertical rod 3122 of the L-shaped support arm 312 via the first support shaft 3121. The upper part of the recovery guide plate 313 can press against the upper part of the separation limiting plate 314 by the pushing action of the torsion spring 3131. Specifically, the torsion spring 3131 is sleeved on the first support shaft 3121, with one torsion arm pressing against the vertical rod 3122 and the other torsion arm pressing against the bottom of the recovery guide plate 313. A first photoelectric detection switch 323 is provided on the tracked mobile frame 1 for detecting the drill rod 101 moving onto the L-shaped support arm 312. The first photoelectric detection switch 323 is electrically connected to the controller.

[0044] Based on the above embodiments, the drill pipe separation and conveying mechanism 32 includes a first hydraulic cylinder 321 and a conveying chain 322. The fixed end of the first hydraulic cylinder 321 is hinged to the tracked mobile frame 1, and the telescopic end of the first hydraulic cylinder 321 is hinged to the lower rear side of the drill pipe storage basket 311. In actual application, the extension action of the first hydraulic cylinder 321 is used to realize the tilting and swinging of the drill pipe storage basket 311. The telescopic stroke of the first hydraulic cylinder 321 remains constant. After the drill rod storage basket 311 tilts and swings, the drill rods at the bottom of the single-row drill rod storage cavity 104 can enter the first single-layer drill rod conveying channel 103 under the action of gravity and continue to move to the intersection of the drill rod separation channel 102 and the first single-layer drill rod conveying channel 103. The two conveying chains 322 are spaced apart on the rear side wall of the drill rod storage basket 311 in the left-right direction. Several drill rod support plates 3221 are provided on the conveying chains 322. Only one drill rod can be stored between two adjacent drill rod support plates 3221. Place a drill rod 101, specifically, such that the distance between two adjacent drill rod support plates 3221 is slightly larger than the outer diameter of the drill rod 101. After several drill rod support plates 3221 are arranged on the conveyor chain 322 in the above manner, the drill rod support plates 3221 can prevent excessive drill rods 101 from accidentally entering the drill rod separation channel 102. During the rotation of the conveyor chain 322, the drill rod support plates 3221 can hold the first drill rod at the rear of the first single-layer drill rod conveying channel 103. The drill rod 101 is lifted into the drill rod separation channel 102 and can be released onto the two L-shaped support arms 312. Under the action of gravity, the drill rod 101, separated from the conveyor chain 322, can automatically roll into the bend of the L-shaped support arm 312. The two L-shaped support arms 312 are suspended in the air, which makes it easier for the drill rod clamping assembly to move under the drill rod 101 to clamp and fix the drill rod 101. The conveyor chain 322 can be driven by a motor to rotate, and the operation of the motor is controlled by a controller. In practical applications, when a drill rod 101 rolls into the bend of the two L-shaped support arms 312 under the action of gravity, the drill rod 101 will remain stationary and horizontal after a certain period of time. In this specific embodiment, the first photoelectric detection switch 323 is only used to detect the presence or absence of the drill rod 101 at the corresponding position and has no other function. Therefore, when the drill rod 101 is stably stopped on the two L-shaped support arms 312, the presence or absence of the drill rod 101 can be detected by the first photoelectric detection switch 323.

[0045] Based on the above embodiments, the specific implementation of the swing arm 42 is as follows: The swing arm 42 includes a fixed support arm 421 and a telescopic arm 422. The lower part of the fixed support arm 421 is fixedly mounted on the rotating head of the rotary cylinder 41. The bottom of the telescopic arm 422 is sleeved inside the upper part of the fixed support arm 421. To prevent the telescopic arm 422 from rotating inside the fixed support arm 421, the telescopic arm 422 is a square vertical rod, and the lower part of the telescopic arm 422 is sleeved in the square hole in the upper part of the fixed support arm 421. A second hydraulic cylinder 44 is provided on the fixed support arm 421 to realize the up-and-down movement of the telescopic arm 422. The telescopic arm 422 is telescopically extended by the extension and retraction of the second hydraulic cylinder 44. A linear reciprocating drive mechanism is provided on the telescopic arm 422, which can move left and right. The drill pipe clamping assembly is provided on the linear reciprocating drive mechanism. In this specific embodiment, the linear reciprocating drive mechanism includes a guide rod 431, a lead screw 432, a servo motor 433, and a moving slider 4321. The two guide rods 431 are fixedly arranged vertically and horizontally on the right side wall of the telescopic arm 422, and a fixed limiting rod 4311 is fixedly arranged between the two guide rods 431. The lead screw 432 is rotatably mounted between the telescopic arm 422 and the fixed limiting rod 4311. The rotational support of the telescopic arm 422 and the fixed limiting rod 4311 ensures the rotational stability of the lead screw 432. The servo motor 433 is fixedly mounted on the telescopic arm 422 and drives the rotation of the lead screw 432. The movable slider 4321 is sleeved on the two guide rods 431 and the lead screw 432. The rotation of the lead screw 432 enables the movable slider 4321 to move left and right reciprocally. Specifically, the lead screw 432 and the movable slider 4321 are threadedly fitted. Utilizing the characteristics of the threaded fit, when the lead screw 432 performs forward and reverse movements, the rotational stability of the lead screw 432 is achieved through the rotation of the guide rods 431 and 4311. The screw thread drives the movable slider 4321 to reciprocate; when the screw thread 432 rotates forward, it drives the movable slider 4321 to move forward, and when the screw thread 432 rotates in reverse, it drives the movable slider 4321 to move backward; the drill rod clamping assembly includes a support frame 434, jaws 435, and a third hydraulic cylinder 436. The support frame 434 is fixedly mounted on the movable slider. A drill rod groove is provided on the right side of the upper and lower support plates 4341 of the support frame 434. The two jaws 435 are hinged between the two support plates 4341. The third hydraulic cylinder 436 can push the corresponding jaws 435 to press and fix the drill rod 101 in the drill rod groove.In practical applications, after the drill rod groove is engaged with the outer wall of the corresponding drill rod 101, the third hydraulic cylinder 436 can be activated to extend it, thereby causing the gripper 435 to rotate and press the drill rod 101. When it is necessary to release the gripper 435 from pressing the drill rod 101, the third hydraulic cylinder 436 retracts. After the third hydraulic cylinder retracts to its final position, the gripper 435 releases the pressure of the drill rod 101 in the drill rod groove. In practical applications, the controller is used to realize the logical operation control of the rotary cylinder 41, the second hydraulic cylinder 44, the servo motor 433, and the third hydraulic cylinder 436.

[0046] Based on the above embodiments, to facilitate the detection of the rotation angle between the swing arm 42 and the mast 2, and to ensure that the swing angle of the swing arm 42 is the same as the tilt angle of the mast 2, a first angle sensor 423 coaxially rotating with it is provided on the outside of the fixed support arm 421, and a second angle sensor 231 coaxially rotating with it is provided on the outside of the rotation support shaft 23 of the mast 2. Both the first angle sensor 423 and the second angle sensor 231 are fixedly mounted on the tracked mobile frame 1 and are electrically connected to the controller. In practical applications, the first angle sensor 423 and the second angle sensor 231 can accurately detect the angle between the swing arm 42 and the mast 2, so that when the tilt angle of the mast 2 changes, the tilt angle of the swing arm 42 can also change synchronously. Thus, after the angle of the mast 2 changes, by adjusting the position of the drill rod clamping assembly on the telescopic arm 422, it can be ensured that the clamped drill rod 101 can still be accurately moved to the drill rod docking and disassembly station. Therefore, even when the tilt angle of the mast 2 changes, the drill pipe clamping assembly can still achieve precise delivery or clamping of the drill pipe 101.

[0047] Based on the above embodiments, the specific implementation of the drill pipe docking auxiliary guiding and locking mechanism 5 is as follows: The drill pipe docking auxiliary guiding and locking mechanism 5 includes a fourth hydraulic cylinder 51, a sliding sleeve 52, a rotating connecting assembly 53, a guide block 54, and a locking block 59. Two fourth hydraulic cylinders 51 are fixedly disposed on both sides of the extended spindle 221. The sliding sleeve 52 is slidably sleeved on the extended spindle 221, and the sliding sleeve 52 and the extended spindle 221 can rotate synchronously. Specifically, the sliding sleeve 52 and the extended spindle 221 can achieve synchronous rotation through a spline transmission connection. Figure 5As shown, a spline groove is provided on the inner side of the rear half of the sliding sleeve 52; the rotating connection assembly 53 is provided on the outer wall of the sliding sleeve 52, and the rotating connection assembly 53 is fixedly connected to the telescopic ends of the two fourth hydraulic cylinders 51. Using the connection of the rotating connection assembly 53, the fourth hydraulic cylinders 51 can push the rotating sliding sleeve 52 to reciprocate synchronously along the axial direction of the extended main shaft 221. The inner front side of the sliding sleeve 52 is conical, which facilitates the smooth connection of the sliding sleeve 52 with the threaded end of the drill rod 101. Three spline grooves are provided on the front side of the sliding sleeve 52. The drill rod 101 has stepped limiting holes 521 evenly spaced along its circumference. A guide block 54 is slidably fitted within each stepped limiting hole 521. Each guide block 54 includes a limiting block 541 and a hemisphere 542. The hemisphere 542 is fixedly disposed at the bottom of the limiting block 541. Under the push of a spring 57, the hemisphere 542 can extend from the bottom of the stepped limiting hole 521. After all three hemispheres 542 are fully extended within the stepped limiting holes 521, the diameter of the inscribed circle between the three hemispheres 542 is equal to the diameter of the end of the tapered threaded connector of the drill rod 101. In practical application, after the fourth hydraulic cylinder 51 pushes the sliding sleeve 52 into place, the hemisphere 542 extends out from the stepped limiting hole 521 under the push of the spring 57. After the three hemispheres 542 extend, an elastic guide channel is formed between them. After the threaded connection end of the drill rod 101 contacts any one of the three hemispheres 542, as the drill rod 101 and the hemispheres 542 continue to approach each other, the guiding effect of the hemispheres 542 causes the threaded connection end of the drill rod 101 to gradually move towards the elastic guide channel formed by the three hemispheres 542. The proximity facilitates precise docking of the threaded end of the drill rod 101 with the extended spindle 221. Simultaneously, during the navigation of the threaded end of the drill rod 101 using the hemisphere 542, the elasticity of the spring 57 allows for elastic contact between the threaded end of the drill rod 101 and the hemisphere 542, preventing wear on the outer threads of the drill rod 101. After the drill rod 101 achieves docking with the extended spindle 221, the fourth hydraulic cylinder 51 retracts, returning the sliding sleeve 52 to its initial position, thus completing one docking auxiliary guide. Meanwhile, the locking block 59 is a fan-shaped body cut radially from the outer circle of the extended spindle 221 to the inner thread; the transverse cross-section of the fan-shaped body is shown in the attached figure. Figure 3 and attached Figure 6 As shown, it resembles a trapezoid, except that its upper and lower bases are not parallel. Along the axial direction of the extended main shaft 221 and viewed from the connecting end of the extended main shaft 221 towards the locking block 59 (as shown in the image). Figure 15As shown), the fan-shaped body is similar to a single fan-shaped body, except that the bottom of this fan-shaped body is an arc-shaped inclined surface that is higher in the front and lower in the back; the three fan-shaped bodies are arranged in the same position as the three stepped limiting holes 521 in the circumferential direction, and after the sliding sleeve 52 retracts to the initial position, the hemisphere 542 of the guide block 54 presses against the fan-shaped body under the push of the spring 57. In a normal threaded connection, there is a certain gap between the internal thread and the external thread. In order to facilitate the contact between the bottom surface of the locking block 59 and the external thread of the drill rod 101, during the... When the locking block 59 is cut, it is made to be slightly smaller than the position of the mounting hole, so that the locking block 59 can move down to a certain extent. The downward movement of the locking block 59 can overcome the gap between the normal threaded connection. After the threaded connection end of the drill rod 101 and the extended spindle 221 are normally threaded, the locking block 59 is pushed by the spring 57 to the hemisphere 542 and the internal thread on its small bottom end is locked onto the external thread of the drill rod 101, thereby locking the threaded connection between the extended spindle 221 and the drill rod 101.

[0048] Based on the above embodiments, the specific implementation of the rotating connection assembly 53 is as follows: The rotating connection assembly 53 includes a deep groove ball bearing 531, an annular top pressure ring 532, a stop washer 533, a round nut 534, and an annular chuck 535. The deep groove ball bearing 531 is sleeved on the shoulder of the sliding sleeve 52. The annular top pressure ring 532, the stop washer 533, and the round nut 534 are sequentially sleeved on the sliding sleeve 52. In actual application, the round nut 534 connects with the sliding sleeve 52. The threaded engagement of the sliding sleeve 52 provides stable pressure on the retaining washer 533, the annular pressure ring 532, and the inner ring of the deep groove ball bearing 531, ensuring the inner ring of the deep groove ball bearing 531 is stably fixed to the outside of the sliding sleeve 52. The annular chuck 535 is positioned on the outer ring of the deep groove ball bearing 531. A retaining ring for limiting the displacement of the deep groove ball bearing 531 is provided within the annular chuck 535. The retaining ring and the inner edge of the annular chuck 535 are used to support the outer ring of the deep groove ball bearing 531. The limiting mechanism secures the outer ring of the deep groove ball bearing 531 to the annular chuck 535. Two connecting plates 511 are fixedly mounted on the outer wall of the annular chuck 535. Utilizing the rotational characteristics of the deep groove ball bearing 531, the non-rotating connecting plates 511 can reciprocate to push the rotating sliding sleeve 52. The outer end of each connecting plate 511 is fixedly connected to the telescopic end of a corresponding fourth hydraulic cylinder 51. A stepped limiting mechanism is fixedly mounted on the outer side of the sliding sleeve 52. The positioning ring 55 on the outside of the positioning hole 521 is specifically fixed to the sliding sleeve 52 by several fixing bolts 58. The positioning ring 55 is provided with a threaded hole that communicates vertically with the stepped limiting hole 521. The spring 57 is sleeved in the corresponding threaded hole. An adjusting bolt 56 for pressing the spring 57 is provided at the upper part of the threaded hole. The adjusting bolt 56 is used to press the outer end of the spring 57, thereby enabling the spring 57 to elastically press the guide block 54.

[0049] In practical applications, to improve the dust and mud prevention capabilities of the drill pipe docking auxiliary guidance and locking mechanism 5, a telescopic flexible bellows dust cover 107 is installed between the side wall of the power head 22 and the annular chuck 535 (e.g., Figure 6 As shown), the telescopic flexible bellows dust cover 107 has a cylindrical structure; the rear end of the extended main shaft 221 and the rear end of the sliding sleeve 52 are both located inside the telescopic flexible bellows dust cover 107. Utilizing the dustproof capability of the telescopic flexible bellows dust cover 107, dust or sand is effectively blocked from entering the moving contact area between the extended main shaft 221 and the sliding sleeve 52, thereby ensuring the stability of the reciprocating movement of the sliding sleeve 52 on the extended main shaft 221. Furthermore, to improve the dustproof and sandproof capability of the area where the guide block 54 is located, two semi-annular protective covers 108 (such as...) are provided at the front end of the sliding sleeve 52. Figure 6As shown), two semi-annular protective covers 108 are fixed to the sliding sleeve 52 with bolts. Connecting plates are provided at the joints of the two semi-annular protective covers 108, and the two opposing connecting plates are connected by bolts to achieve a sealed connection. The positioning ring 55, the adjusting bolt 56 on the upper part of the positioning ring 55, and the stepped limiting hole 521 on the sliding sleeve 52 are all located inside the semi-annular protective cover 108. The semi-annular protective cover 108 thus achieves dust protection for the area where the spring 57 and the limiting block 54 are located, ensuring the stable movement of the spring 57 and the limiting block 54. To further improve the dust protection capability of the area where the locking block 59 is located, a sealing ring 106 (as shown) is provided at the front of the extended main shaft 221 in front of the locking block 59. Figure 6 and 16 As shown, after the sliding sleeve 52 retracts to its initial position, the inner wall of the sliding sleeve 52 can compress the sealing ring 106 to a certain extent. After the sealing ring 106 is compressed, the inner wall of the sliding sleeve 52 and the outer wall of the extended main shaft 221 can be sealed, thereby effectively preventing mud and sand from entering the area where the locking block 59 is located through the gap between the sliding sleeve 52 and the extended main shaft 221, thus facilitating the dust and mud prevention of the locking block 59. During drilling, mud and sand may splash. At this time, the sealing ring 106 is in a compressed sealing state. Therefore, the dustproof and mudproof sealing effect of the telescopic flexible bellows cover 107, the semi-annular cover 108 and the sealing ring 106 is used to achieve dustproof and mudproof sealing at the joint between the extended spindle 221 and the sliding sleeve 52. When loading or unloading the drill pipe, although the hemisphere 542 may be exposed on the outside under certain working conditions, there is no mud and sand splashing at this time. Therefore, there is no mud and sand entering the stepped limiting hole 521, thus ensuring the normal reciprocating movement of the guide block 54.

[0050] This invention also provides an automatic drill pipe loading and unloading method, including the automatic drill pipe loading and unloading mechanism described in the above embodiments. The method further includes an automatic drill pipe loading method and an automatic drill pipe unloading method. Before the automatic loading or unloading of the drill pipe 101, under the condition that the drilling angle of the mast 2 is determined, the linear reciprocating drive mechanism is controlled using a control program set in the controller, so that the drill pipe 101 clamped on the drill pipe clamping assembly can move to the drill pipe docking and disassembly position under the drive of the swing arm 42. In the actual drilling process of the drilling rig, there are situations of vertical drilling and inclined drilling. In the above embodiments, because the rotation center axis of the swing arm 42 and the rotation center axis of the mast 2 are only... The drill rod 101 held on the swing arm 42 and the telescopic arm 422 are parallel to each other from left to right, not overlapping from front to back. Therefore, when the mast 2 and the swing arm 42 are parallel to each other at different tilt angles, the vertical distance between the swing arm 42 and the mast 2 changes. For example, the larger the tilt angle between the mast 2 and the swing arm 42, the smaller the vertical distance between them. Therefore, after the drilling angle of the mast 2 changes, it is necessary to calculate the moving distance of the drill rod clamping assembly on the telescopic arm 422 based on the change in the angle of the mast 2, so that the drill rod 101 held by the drill rod clamping assembly can still be accurately moved by the swing arm 42 after the drilling angle of the mast 2 is adjusted. At the drill pipe docking and disassembly station, it is convenient to dock the drill pipe 101 with the extended spindle 221 on the mast 2. Since the distance between the rotation center axis of the mast 2 and the rotation center axis of the swing arm 42 is fixed, and the tilt angle of the mast 2 is known, in practical applications, the distance for the drill pipe clamping assembly to move and adjust on the telescopic arm 422 can be calculated based on the change in the tilt angle of the mast 2. Since the drilling angle of the mast 2 is not large, the situations where the drill pipe clamping assembly needs to move and adjust on the telescopic arm 422 are not frequent. In practical applications, a position adjustment control module for the drill pipe clamping assembly on the telescopic arm 422 can be set in the controller. For example, the angle between the mast 2 and the ground can be set to 99°. The drill pipe clamping assembly position adjustment control module is configured for 0°, 75°, and 60° angles. These preset angles represent common mast 2 tilt situations during drilling. Through this preset control module, the position of the drill pipe clamping assembly can be quickly and accurately adjusted to adapt to different drilling needs. For example, when the angle between the mast 2 and the ground is detected to be 90°, the controller directly controls the servo motor 433 based on this angle condition, causing the drill pipe clamping assembly to move to the designated position according to the set control program. This allows for the subsequent loading and unloading of the drill pipe 101. After adjusting the position of the drill pipe clamping assembly on the swing arm 42 according to the drilling tilt angle of the mast 2, the automatic drill pipe loading method includes the following steps:

[0051] S1. Before the automatic loading of drill rods, ensure that the swing arm 42 is in the initial position and that a certain number of drill rods 101 are stored in the drill rod storage basket 311. The initial position of the swing arm 42 is the position in which the drill rods 101 are clamped and fixed between the two L-shaped support arms 312 using the drill rod clamping assembly.

[0052] S2. The operator sends an automatic drill rod loading command to the controller via the control panel. After receiving the command, the controller activates the first hydraulic cylinder 321. This activation tilts the drill rod storage basket 311, causing the drill rod 101 in the first single-layer drill rod conveying channel 103 to roll towards the conveying chain 322. After the first hydraulic cylinder 321 stops, the conveying chain 322 activates, allowing one drill rod 101 to enter the two L-shaped support arms 312. At this point, the drill rod 101 also enters the two drill rod grooves below it. The first photoelectric detection switch 323 detects the drill rod 101. Then, the conveyor chain 322 stops rotating. Simultaneously, the controller activates the third hydraulic cylinder 436 to clamp and fix the drill rod 101. Then, the controller activates the rotary cylinder 41 to move the swing arm 42 to move the drill rod 101 to the drill rod docking and disassembly station. After the swing arm 42 stops swinging, the controller activates the fourth hydraulic cylinder 51 to extend the sliding sleeve 52 downwards. After the sliding sleeve 52 extends into place, the controller activates the power head 22 and the extended spindle 221 to work. The power head 22 slowly descends on the mast 2 while the extended spindle 221 rotates synchronously. During the slow downward movement of the power head 22, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle 221 in real time. When the inlet oil pressure rises and reaches the set threshold, the controller stops the descent of the power head 22 and the rotation of the extended spindle 221. Simultaneously, the fourth hydraulic cylinder 51 returns to its initial working position. The set threshold can be obtained through multiple experiments. In existing technology, a pressure gauge for monitoring working pressure is installed on the inlet oil line of the drilling rig's hydraulic motor. The pressure gauge is connected to a tee connector on the inlet oil line via a pipeline, thus monitoring the inlet oil pressure. During the experiment, the drill rod was fixed using a drill rod holder, and then the extended spindle 221 was driven by the hydraulic motor. The measured safe pressure relief peak of the hydraulic motor's inlet oil line was approximately 10 MPa. Therefore, in In this specific embodiment, the aforementioned threshold value can be set to 10MPa; the value of the inlet pressure can be measured using a digital display electric contact pressure gauge; during the actual docking process, after the extended spindle 221 and the clamped drill rod 101 are threadedly docked, the hydraulic motor of the extended spindle 221 experiences increased resistance torque due to the clamping of the drill rod 101, which in turn increases the inlet pressure of the hydraulic motor. Therefore, the change in the inlet pressure of the hydraulic motor of the extended spindle 221 can be used as the basis for determining whether the docking of the drill rod 101 and the extended spindle 221 is successful; then, the drill rod clamping assembly releases the drill rod 101 and returns to the initial working position, and then the power head 22 and the extended spindle 221 are restarted.The drill rod 101, which is connected to the extended spindle 221, rotates and slowly moves downwards. During this downward movement, the controller receives the inlet oil pressure value of the hydraulic motor driving the extended spindle 221 in real time. When the inlet oil pressure value rises and reaches a set threshold, the controller stops the descent of the power head 22 and simultaneously stops the rotation of the extended spindle 221. This set threshold can be obtained through multiple experiments. In existing technology, a pressure gauge for monitoring the working pressure is installed on the inlet oil pipe of the drilling rig's hydraulic motor. The pressure gauge is connected to a T-junction on the inlet oil pipe via a pipeline. The connection is made, and then the oil inlet pressure is monitored using a pressure gauge. During the experiment, the drill rod is fixed by the drill rod holder, and then the extended spindle 221 is driven by the hydraulic motor. The measured safe pressure relief peak of the hydraulic motor's oil inlet pipeline is about 10MPa. Therefore, in this specific embodiment, the above-mentioned threshold can be set to 10MPa. The value of the oil inlet pressure can be measured by a digital display electric contact pressure gauge. At this time, the connection between the drill rod 101 on the extended spindle 221 and the drill rod 101 clamped and fixed by the drill rod hydraulic holder 21 is completed, and then the automatic connection process of one drill rod 101 is completed.

[0053] After adjusting the position of the drill pipe clamping assembly on the swing arm 42 according to the drilling inclination angle of mast 2, the automatic unloading method of the drill pipe includes the following steps:

[0054] S1. Before the automatic unloading of the drill rods, ensure that there are at least two drill rods 101 that have been drilled into the ground; at the same time, ensure that the swing arm 42 is in the initial position and the drilling rig is in the stopped drilling state.

[0055] S2. The operator sends an automatic drill pipe unloading command to the controller via the control panel. After receiving the automatic drill pipe unloading command, the controller starts the power head 22, which drives the drill pipe 101 upward along the mast 2 to a set position. The moving distance of the power head 22 can be controlled according to the moving speed and time of the power head 22, or the position of the power head 22 can be fixedly detected by a photoelectric detection switch set at a fixed position on the mast 2. After the power head 22 stops moving upward, the drill pipe hydraulic clamp 21 is started, which is used to clamp and fix the part of the drill pipe 101 located in the ground. After the hydraulic clamp 21 completes the clamping action, the controller starts the extended spindle 221 to rotate while the power head 22 slowly and synchronously moves upward a certain distance. Since the connecting thread between the extended spindle 221 and the drill rod 101 has been locked by the locking block 59, the connecting thread between the drill rod 101 and the drill rod clamped by the drill rod hydraulic clamp 21 is completely disengaged, that is, the two corresponding drill rods 101 are completely separated in the axial direction. Then, the rotary cylinder 41 is activated to make the swing arm 42 drive the drill rod clamping assembly to swing to the drill rod docking and disassembly station. After the swing arm 42 stops swinging, the drill rod groove is just locked in place on the corresponding drill rod 101. On the outer wall; then the third hydraulic cylinder 436 is activated to clamp the drill rod 101 at the docking and disassembly station. Then, the controller activates the fourth hydraulic cylinder 51 to extend the sliding sleeve 52 downward to the set value, causing the hemisphere 542 of the guide block 54 to leave the locking block 59. At this time, the threaded lock between the extended spindle 221 and the drill rod 101 is released. The power head 22 and the extended spindle 221 are started again. While the extended spindle 221 rotates and disengages from the drill rod 101, the power head 22 slowly moves upward a certain distance. The drill rod 101 is clamped and fixed by the drill rod clamping assembly. Therefore, when the extended spindle 221 rotates in the opposite direction, the drill rod 101 can be clamped and fixed. The threaded connection between the long spindle 221 and the drill rod 101 is separated; after the power head 22 stops moving (at this time, the connection end between the extended spindle 221 and the drill rod 101 has been completely separated in the axial direction), the controller restarts the rotary cylinder 41 to make the swing arm 42 swing in the opposite direction. During the continuous swing of the swing arm 42, the first angle sensor 423 transmits the detected tilt angle value of the swing arm 42 to the controller in real time. When the controller determines that the tilt angle of the swing arm 42 is greater than the set threshold, the gripper 435 releases the gripper on the drill rod 101. The above-mentioned tilt angle setting threshold can be obtained through several experiments in practice.At this point, the swing arm 42 positions the drill rod 101 precisely where it contacts the recovery guide plate 313. After the gripper 435 releases its grip on the drill rod 101, the swing arm 42 and the second hydraulic cylinder 44 return to their initial working positions. The drill rod 101 separates from the drill rod clamping assembly under the obstruction of the two recovery guide plates 313 and automatically rolls into the drill rod storage basket 311. After the swing arm 42 returns to its initial position, the controller starts the power head 22 and the extended spindle 221, causing the power head 22 to slowly descend on the mast 2 while the extended spindle 221 rotates synchronously. During the slow downward movement of the power head 22, the controller receives real-time oil pressure readings from the hydraulic motor driving the extended spindle 221. When the oil pressure rises and reaches a set threshold, the controller stops the power head 22 from descending and simultaneously stops the extended spindle 221 from rotating. At this point, the extended spindle 221 is threadedly connected to the drill rod 101, which is clamped and fixed by the drill rod hydraulic clamp 21. After the extended spindle 221 stops rotating, the drill rod hydraulic clamp 21 releases its grip on the drill rod 101. This completes the unloading process for one drill rod 101.

[0056] In this invention, "upper," "lower," "front," "back," "left," and "right" are all relative positions used for the convenience of describing positional relationships, and therefore cannot be understood as absolute positions as limitations on the scope of protection.

[0057] Except for the technical features described in the specification, all other technical features are known to those skilled in the art. The preferred embodiments and examples of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments and examples. For those skilled in the art, several improvements and modifications can be made without departing from the concept of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic drill pipe loading and unloading mechanism, comprising a tracked mobile frame and a mast, wherein the mast is hinged to the right side of the tracked mobile frame, a drill pipe hydraulic clamp is disposed at the bottom of the mast, a power head capable of vertical movement is disposed on the mast, and an extended main shaft is disposed on the power head, characterized in that, The automatic loading and unloading mechanism also includes a drill pipe separation and storage mechanism, a drill pipe clamping and conveying mechanism, a drill pipe docking auxiliary guiding and locking mechanism, and a controller. The drill pipe separation and storage mechanism includes a drill pipe storage mechanism and a drill pipe separation and conveying mechanism. The drill pipe storage mechanism can retrieve and store the drill pipes released by the drill pipe clamping and conveying mechanism, while the drill pipe separation and conveying mechanism can separate individual drill pipes from the storage mechanism and convey them to the drill pipe docking and disassembly station. The drill pipe clamping and conveying mechanism includes a swing drive mechanism, a swing arm, and a drill pipe clamping assembly. The swing drive mechanism can drive the swing arm to swing left and right reciprocatingly and position itself in a vertical plane. The rotation center axis of the swing arm is parallel to the rotation center axis of the mast; the drill pipe clamping assembly is mounted on the swing arm and can move up and down and left and right on the upper part of the swing arm, and can clamp and release the drill pipe; the drill pipe docking auxiliary guide and locking mechanism is mounted on the power head, and is used to assist in docking the drill pipe with the extended spindle and locking the drill pipe after it is fully screwed together with the extended spindle; the controller can control the operation of the drill pipe separation and storage mechanism, the drill pipe clamping and conveying mechanism and the drill pipe docking auxiliary guide and locking mechanism.

2. The automatic drill pipe loading and unloading mechanism according to claim 1, characterized in that, The drill pipe storage mechanism includes a drill pipe storage basket, L-shaped support arms, a recovery guide plate, a separation limiting plate, and partition plates. The longitudinal section of the drill pipe storage basket is parallelogram-shaped. The upper rear part of the drill pipe storage basket is hinged to the tracked mobile frame. Two L-shaped support arms, arranged opposite each other, are fixedly installed on the upper rear part of the drill pipe storage basket. The separation limiting plates are distributed along the length of the drill pipe storage basket, and their left and right ends are fixedly connected to the corresponding left and right side walls of the drill pipe storage basket. A drill pipe passage is reserved between the vertical rod of the L-shaped support arm and the upper rear part of the separation limiting plate. Several partition plates are fixedly installed at equal intervals along the front side of the separation limiting plate. The bottoms of the partition plates and the separation limiting plate are flush. Between the partition plates and the separation limiting plate and the inner bottom plane of the drill pipe storage basket... A first single-layer drill rod conveying channel is formed. A drill rod separation channel is formed between the rear sidewall of the separation limiting plate and the inner rear sidewall of the drill rod storage basket. A single-row drill rod storage cavity is formed between the separation limiting plate and the partition plate, and between two adjacent partition plates. The single-row drill rod storage cavity is connected to the first single-layer drill rod conveying channel. The first single-layer drill rod conveying channel is connected to the drill rod separation channel. The upper parts of the partition plates are lowered sequentially from back to front. The rear part of the recovery guide plate is hinged to the upper part of the vertical rod of the L-shaped support arm, and the upper part of the recovery guide plate can press against the upper part of the separation limiting plate by the pushing action of the torsion spring. A first photoelectric detection switch for detecting drill rods moved to the two L-shaped support arms is provided on the tracked mobile frame. The first photoelectric detection switch is electrically connected to the controller.

3. The automatic drill pipe loading and unloading mechanism according to claim 2, characterized in that, The drill rod separation and conveying mechanism includes a first hydraulic cylinder and a conveying chain. The fixed end of the first hydraulic cylinder is hinged to the tracked mobile frame, and the telescopic end of the first hydraulic cylinder is hinged to the lower rear side of the drill rod storage basket. Two conveying chains are spaced apart on the rear side wall of the drill rod storage basket in the left-right direction. Several drill rod support plates are provided on the conveying chains. Only one drill rod can be stored between two adjacent drill rod support plates. During the rotation of the conveying chain, the drill rod support plate can lift the first drill rod at the rear of the first single-layer drill rod conveying channel into the drill rod separation channel and can release the drill rod onto the two L-shaped support arms.

4. The automatic drill pipe loading and unloading mechanism according to any one of claims 1-3, characterized in that, The swing drive mechanism is a rotary hydraulic cylinder, which is fixedly mounted on the tracked mobile frame.

5. The automatic drill pipe loading and unloading mechanism according to claim 4, characterized in that, The swing arm includes a fixed support arm and a telescopic arm. The lower part of the fixed support arm is fixedly mounted on the rotating head of the rotary cylinder. The bottom of the telescopic arm is sleeved inside the upper part of the fixed support arm. A second hydraulic cylinder is provided on the fixed support arm to realize the vertical movement of the telescopic arm. A linear reciprocating drive mechanism is provided on the telescopic arm, which can reciprocate left and right. The drill rod clamping assembly is mounted on the linear reciprocating drive mechanism. The drill rod clamping assembly includes a support frame, jaws, and a third hydraulic cylinder. A drill rod groove is provided on the right side of the upper and lower support plates of the support frame. The two jaws are hinged between the two support plates. The third hydraulic cylinder can push the corresponding jaws to press and fix the drill rod in the drill rod groove.

6. The automatic drill pipe loading and unloading mechanism according to claim 5, characterized in that, in A first angle sensor is provided on the outside of the fixed support arm and rotates coaxially with it. A second angle sensor is provided on the outside of the rotating support shaft of the mast and rotates coaxially with it. Both the first angle sensor and the second angle sensor are fixedly mounted on the tracked mobile frame. Both the first angle sensor and the second angle sensor are electrically connected to the controller.

7. The automatic drill pipe loading and unloading mechanism according to any one of claims 5-6, characterized in that, The drill pipe docking auxiliary guiding and locking mechanism includes a fourth hydraulic cylinder, a sliding sleeve, a rotating connecting assembly, a guide block, and a locking block. Two fourth hydraulic cylinders are fixedly mounted on both sides of the extended spindle. The sliding sleeve is slidably fitted onto the extended spindle and can rotate synchronously with it. The rotating connecting assembly is located on the outer wall of the sliding sleeve and is fixedly connected to the telescopic ends of the two fourth hydraulic cylinders. The inner front side of the sliding sleeve is conical, and three stepped limiting holes are evenly spaced along its circumference on the front side of the sliding sleeve. A guide block is slidably fitted into each stepped limiting hole. The guide block includes a limiting... The guide block and hemispheres are fixedly mounted at the bottom of the limiting block. The hemispheres can extend from the bottom of the stepped limiting hole under the push of a spring. After the three hemispheres are fully extended in the stepped limiting hole, the diameter of the inscribed circle between the three hemispheres is equal to the diameter of the end of the tapered threaded connector of the drill rod. The locking block is a fan-shaped body cut radially from the outer circle of the extended spindle to the internal thread. The three fan-shaped bodies are arranged in the same position as the three stepped limiting holes in the circumferential direction. After the sliding sleeve retracts to the initial position, the hemisphere of the guide block presses against the fan-shaped body under the push of the spring, so that the fan-shaped body can press against the corresponding external thread of the drill rod.

8. The automatic drill pipe loading and unloading mechanism according to claim 7, characterized in that, The rotating connection assembly includes a deep groove ball bearing, an annular top pressure ring, a retaining washer, a round nut, and an annular chuck. The deep groove ball bearing is fitted onto the shoulder of the sliding sleeve. The annular top pressure ring, retaining washer, and round nut are sequentially fitted onto the sliding sleeve. The annular chuck is secured to the outer ring of the deep groove ball bearing. A retaining ring for limiting the displacement of the deep groove ball bearing is provided inside the annular chuck. Two connecting plates are fixedly provided on the outer wall of the annular chuck. The outer end of each connecting plate is fixedly connected to the telescopic end of a corresponding fourth hydraulic cylinder. A positioning ring located outside the stepped limiting hole is fixedly provided on the outer side of the sliding sleeve. The positioning ring has a threaded hole that communicates vertically with the stepped limiting hole. The spring is fitted into the corresponding threaded hole. An adjusting bolt for pressing the spring is provided at the upper part of the threaded hole.

9. An automatic loading and unloading method for drill pipe, characterized in that, The automatic drill pipe loading and unloading mechanism according to claim 8 further includes an automatic drill pipe loading method and an automatic drill pipe unloading method. Before automatic loading or unloading of the drill pipe, under the condition that the drilling angle of the mast is determined, the linear reciprocating drive mechanism is controlled by the control program set in the controller, so that the drill pipe held on the drill pipe clamping assembly can be moved to the drill pipe docking and disassembly station under the drive of the swing arm. After adjusting the position of the drill pipe clamping assembly on the swing arm according to the drilling inclination angle of the mast, the automatic drill pipe loading method includes the following steps: S1. Before automatically loading the drill pipe, ensure that the swing arm is in the initial position and that a certain number of drill pipes are stored in the drill pipe storage basket. S2. The operator sends an automatic drill rod loading command to the controller via the control panel. Upon receiving the command, the controller activates the first hydraulic cylinder. After the first hydraulic cylinder stops, the conveyor chain moves, causing a drill rod to enter the two L-shaped support arms. At this point, the drill rod also enters the two drill rod grooves located below it. After the first photoelectric detection switch detects the drill rod, the conveyor chain stops rotating. Simultaneously, the controller activates the third hydraulic cylinder to clamp and fix the drill rod. Then, the controller activates the rotary cylinder to move the swing arm to the drill rod docking and disassembly station. After the swing arm stops swinging, the controller activates the fourth hydraulic cylinder to extend the sliding sleeve downwards. After the sliding sleeve extends to its position, the controller activates the power head and extended spindle, causing the power head to slowly descend on the mast while the extended spindle rotates synchronously. As the drill head slowly moves downward, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle in real time. When the oil pressure value rises and reaches the set threshold, the controller stops the descent of the power head and the extended spindle from rotating, and the fourth hydraulic cylinder returns to the initial working position. Then, the drill rod clamping assembly releases the drill rod and returns to the initial working position. Then, the power head and the extended spindle are restarted, so that the drill rod docked with the extended spindle rotates and slowly moves downward. During the slow downward movement of the drill rod, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle in real time. When the oil pressure value rises and reaches the set threshold, the controller stops the descent of the power head and the extended spindle from rotating. At this time, the docking of the drill rod on the extended spindle with the drill rod clamped and fixed by the drill rod hydraulic clamp is completed, thus completing the automatic docking process of one drill rod. After adjusting the position of the drill pipe clamping assembly on the swing arm according to the drilling inclination angle of the mast, the automatic unloading method of the drill pipe includes the following steps: S1. Before the automatic unloading of the drill rods, ensure that at least two drill rods have been drilled into the ground; at the same time, ensure that the swing arm is in the initial position and the drilling rig is in the stopped drilling state. S2. The operator sends an automatic drill pipe unloading command to the controller via the control panel. Upon receiving the command, the controller activates the power head to move the drill pipe upwards along the mast to a set position. After the power head stops moving upwards, the hydraulic drill pipe holder is activated. Once the hydraulic drill pipe holder completes its clamping action, the power head slowly and synchronously moves upwards a certain distance while the extended spindle rotates. When the power head reaches its designated position, it stops moving, simultaneously stopping the extended spindle's rotation, thus completely disengaging the drill pipe from the hydraulic drill pipe holder. The rotary cylinder is activated, causing the swing arm to swing the drill pipe clamping assembly to the drill pipe docking and disassembly station. After the swing arm stops swinging, the third hydraulic cylinder is activated to clamp the drill pipe at the docking and disassembly station. Then, the controller activates the fourth hydraulic cylinder to extend the sliding sleeve downwards to a set value, causing the hemisphere of the guide block to leave the locking block. The power head and extended spindle are then activated again. As the extended spindle rotates and disengages from the drill pipe, the power head slowly moves upwards a certain distance. After the power head stops moving, the controller activates the rotary cylinder again to cause the swing arm to swing in the opposite direction. During the continuous swing of the swing arm, the first angle sensor transmits the detected tilt angle value of the swing arm to the controller in real time. When the controller determines that the tilt angle of the swing arm is greater than the set threshold, it releases the gripper from the drill rod. After the gripper releases the drill rod, the swing arm and the second hydraulic cylinder return to their initial working positions. The drill rod separates from the drill rod clamping assembly under the obstruction of the two recovery guide plates and automatically rolls into the drill rod storage basket. After the swing arm returns to its initial position, the controller starts the power head and the extended spindle, causing the power head to slowly descend on the mast. Simultaneously, the extended spindle rotates synchronously. As the power head slowly moves downward, the controller receives the oil pressure value of the hydraulic motor driving the extended spindle in real time. When the oil pressure value rises and reaches the set threshold, the controller stops the power head from descending and the extended spindle from rotating. The fourth hydraulic cylinder is activated to drive the sliding sleeve back to its initial position, so that the hemisphere of the guide block is pushed against the locking block by the spring. After the extended spindle stops rotating, the drill pipe hydraulic clamp releases the drill pipe from the drill pipe. At this point, the unloading process of one drill pipe is completed.

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