A drill pipe handling vehicle

Abstract

The application discloses a drill rod loading and unloading operation vehicle, which comprises a chassis, a cab, a mounting platform, an arm support system and a clamping jaw mechanism. The chassis provides a moving platform and is integrated with an engine and a hydraulic system or a pneumatic system as a power source. The cab is arranged on the chassis and is internally provided with a walking control system of the whole vehicle and an operation control system of a mechanical arm. The arm support system is mounted on the mounting platform at the front of the chassis and is controlled by the hydraulic system or the pneumatic system to work, so as to provide multiple movement degrees of freedom for the clamping jaw mechanism at the end of the arm support system. The clamping jaw mechanism is mounted at the end of the arm support system and is composed of a rotary driving mechanism and a clamping mechanism and is used for grabbing, positioning and releasing the drill rod. The scheme realizes the comprehensive mechanization of the drill rod carrying and loading and unloading through the hydraulic or pneumatic driving mode, effectively solves the problems of high labor intensity, low efficiency and poor safety of the manual mode and has the advantages of compact structure, flexible operation, strong adaptability and low cost.

Description

Technical Field

[0001] This invention relates to the field of drill pipe loading and unloading technology, specifically to a drill pipe loading and unloading vehicle. Background Technology

[0002] Down-the-hole drilling rigs or large-diameter drilling rigs are widely used in mining, geological exploration, and construction. These rigs require frequent connection and disconnection of drill rods during drilling operations. Currently, the handling, connection, loading and unloading of drill rods are mainly done manually, which has the following significant drawbacks.

[0003] High labor intensity: A single drill pipe can weigh hundreds of kilograms, making manual handling extremely laborious; Low work efficiency: Manual operation is slow and does not match the efficient operation of drilling rigs, affecting the overall construction progress; Significant safety hazards: During the handling of heavy drill pipes, accidents such as crushing, bumping, and twisting injuries are very likely to occur, and operating large hoisting equipment in the confined space near the drilling rig is also highly risky; High dependence on manual labor: The harsh working environment is a huge test for the physical and mental health of workers. Therefore, there is an urgent need for a professional, low-cost, and highly efficient automated alternative. Thus, we have proposed a drill pipe loading and unloading vehicle. Summary of the Invention

[0004] The purpose of this invention is to provide a drill pipe loading and unloading vehicle to solve the problems currently existing in the market as mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a drill pipe loading and unloading vehicle, comprising a chassis, a cab, an installation platform, a boom system, and a gripper mechanism:

[0006] The chassis, as the vehicle's mobile platform and power base, provides hydraulic or pneumatic power.

[0007] The driver's cab is mounted on the chassis and integrates the control system;

[0008] The mounting platform is located on the top of the chassis near the front and is used to mount the boom system.

[0009] The boom system is installed above the installation platform and is driven by hydraulic or pneumatic actuators.

[0010] The gripper mechanism, connected to the end of the boom system, is used to grip and release the drill rod and is driven by a hydraulic actuator or a pneumatic actuator.

[0011] Preferably, the arm support system comprises a rotating seat, the top of the installation platform is provided with the rotating seat, the top of the rotating seat is fixedly provided with a fixed column, the top of the fixed column is rotatably connected with a first main arm, the fixed column is rotatably connected with a lifting oil cylinder near the lower side, the telescopic end of the lifting oil cylinder is rotatably connected with the lower side near the end of the first main arm, the end of the first main arm away from the fixed column is telescopically connected with a telescopic arm, the upper side near the middle of the telescopic arm and the upper side of the first main arm are provided with a telescopic oil cylinder, the end of the telescopic arm away from the first main arm is rotatably connected with a first auxiliary arm, the upper side of the telescopic arm and the top end of the first auxiliary arm are rotatably connected with a first luffing oil cylinder, the tail end of the first auxiliary arm is provided with a motor mounting rack, the upper and lower sides of the motor mounting rack are rotatably connected with the first auxiliary arm and a supporting rod respectively, the outer side of the first auxiliary arm near the motor mounting rack is sleeved with an arc-shaped guide frame, the lower side of the first auxiliary arm and the bottom end of the arc-shaped guide frame are rotatably connected with a second luffing oil cylinder, the end of the supporting rod away from the motor mounting rack and the bottom end of the arc-shaped guide frame are rotatably connected, and the side of the motor mounting rack away from the first auxiliary arm and the supporting rod is provided with a rotating motor.

[0012] Preferably, the claw mechanism comprises a clamping oil cylinder, the clamping oil cylinder is installed at the end of the rotating motor, the end of the clamping oil cylinder away from the rotating motor is fixedly connected with a U-shaped frame, the two sides of the U-shaped frame away from the clamping oil cylinder are rotatably connected with V-shaped clamps in a symmetrical manner, the inner side ends of the U-shaped frame are fixedly connected with guide columns in a symmetrical manner, the guide columns are sleeved with a sliding sleeve, the telescopic end of the clamping oil cylinder is fixedly connected with the sliding sleeve, the two sides of the sliding sleeve are rotatably connected with first transmission rods in a symmetrical manner, the end of the first transmission rod away from the sliding sleeve is rotatably connected with the middle part of the V-shaped clamp, and the inner walls of the upper and lower sides of the V-shaped clamp are symmetrically provided with anti-skid pads.

[0013] Preferably, the anti-skid pads are made of metal materials, the outer surfaces of the anti-skid pads are provided with anti-skid protrusions, and the anti-skid pads are fixedly connected with the inner walls of the V-shaped clamps in a bolt mounting manner.

[0014] Preferably, the arm support system further comprises a support, the top of the mounting platform is fixedly provided with the support, the top of the support is rotatably connected with a rotating column, the top of the rotating column is rotatably connected with a second main arm, a lifting cylinder is rotatably connected between the side of the rotating column and the end of the second main arm, the end of the second main arm away from the rotating column is rotatably connected with a second auxiliary arm, the lower side of the end of the second auxiliary arm away from the second main arm is rotatably connected with an operating mounting arm, the outer side of the lower side of the operating mounting arm is fixedly connected with a control panel mounting frame, the end of the control panel mounting frame away from the operating mounting arm is provided with a control panel, the bottom of the second auxiliary arm is rotatably connected with a rotating cylinder mounting frame, the rotating cylinder mounting frame between the second auxiliary arm and the rotating cylinder is rotatably connected with a turnover cylinder, the side of the rotating cylinder mounting frame close to the middle is provided with a rotating cylinder, and the rotating structures of the rotating column, the second auxiliary arm and the operating mounting arm are limited in rotation by a locking mechanism.

[0015] Preferably, the jaw mechanism further comprises a jaw mounting frame, the side of the rotating cylinder mounting frame away from the rotating cylinder is rotatably connected with the jaw mounting frame, the shaft end of the rotating cylinder is fixedly connected with the jaw mounting frame, the upper and lower sides of the jaw mounting frame away from the rotating cylinder mounting frame are symmetrically provided with clamping cylinders, the four sides of the jaw mounting frame close to the clamping cylinders are fixedly connected with mounting rods, the end of the mounting rod away from the jaw mounting frame is fixedly connected with a fixing frame, the two sides of the fixing frame are rotatably connected with clamping arms, the clamping arms are provided with a transmission frame, the telescopic end of the clamping cylinder is fixedly connected with the transmission frame, the two sides of the transmission frame are rotatably connected with second transmission rods, the end of the second transmission rod away from the transmission frame is rotatably connected with the clamping arm, and the inner side of the end of the clamping arm is provided with a V-shaped clamping frame.

[0016] Preferably, the locking mechanism comprises a brake disc, the outer side of the rotating column close to the support is fixedly connected with a brake disc, the outer side of the rotating shaft of the second auxiliary arm is also fixedly connected with a brake disc, and the outer side of the operating mounting arm close to the second auxiliary arm is also fixedly connected with a brake disc, the side of the rotating column, the second main arm and the second auxiliary arm corresponding to the brake disc is provided with a pneumatic clamping frame, and the inner side of the pneumatic clamping frame close to the brake disc is provided with a brake pad.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] The application discloses a heavy-duty drill rod handling device, which comprises a chassis, a cab, an arm support system and a gripper mechanism.

[0019] The application can realize the comprehensive mechanization of drill rod handling and loading and unloading through the hydraulic or pneumatic driving mode.

[0020] The application is based on a vehicle chassis, is convenient to move, has compact mechanical arm structure and can be flexibly operated in the limited space around a drilling machine.

[0021] The application adopts the pneumatic control mode, can be controlled through a control panel, and the control panel is close to the drill rod mounting position, is convenient for an operator to directly observe, conforms to the ergonomics principle, is intuitive and simple, and an operator can work after short-term training, so that the use threshold is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a front view structural schematic diagram of the application;

[0023] Figure 2 It is a three-dimensional structural schematic diagram of the application;

[0024] Figure 3 It is a hydraulic gripper mechanism structural schematic diagram of the application;

[0025] Figure 4 It is an arm support system structural schematic diagram of the application;

[0026] Figure 5 It is a side view three-dimensional structural schematic diagram of the application;

[0027] Figure 6 It is a pneumatic gripper mechanism structural schematic diagram of the application;

[0028] Figure 7 For the invention Figure 5 A local amplification structure schematic diagram in the present application

[0029] In the figure: 1, chassis; 2, cab; 3, mounting platform; 4, rotating seat; 5, fixed column; 6, first main arm; 7, lifting cylinder; 8, telescopic arm; 9, telescopic cylinder; 10, first auxiliary arm; 11, first luffing cylinder; 12, motor mounting frame; 13, support rod; 14, arc-shaped guide frame; 15, second luffing cylinder; 16, rotating motor; 17, clamping cylinder; 18, U-shaped frame; 19, V-shaped clamping jaw; 20, guide column; 21, sliding sleeve; 22, first transmission rod; 23, non-slip pad; 24, support; 25, rotating column; 26, second main arm; 27, lifting cylinder; 28, second auxiliary arm; 29, operating mounting arm; 30, control panel mounting frame; 31, control panel; 32, rotating cylinder mounting frame; 33, overturning cylinder; 34, rotating cylinder; 35, clamping jaw mounting frame; 36, clamping cylinder; 37, mounting rod; 38, fixed frame; 39, clamping arm; 40, transmission frame; 41, second transmission rod; 42, V-shaped clamping frame; 43, brake disc; 44, pneumatic clamping frame; 45, brake pad. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] Embodiment one:

[0032] Please refer to Figures 1 to 4 The present application provides a technical solution: a drill rod loading and unloading vehicle, comprising a chassis 1, a cab 2, a mounting platform 3, an arm support system, and a clamping jaw mechanism:

[0033] The chassis 1 serves as the moving platform and power base of the whole vehicle and provides hydraulic power;

[0034] The cab 2 is arranged on the chassis 1 and integrated with a control system;

[0035] The mounting platform 3 is arranged on the top of the chassis 1 near the front part and used for mounting the arm support system;

[0036] The arm support system is mounted above the mounting platform 3 and driven by hydraulic actuators;

[0037] The clamping jaw mechanism is connected to the end of the arm support system and used for grabbing and releasing the drill rod and is driven by hydraulic actuators.

[0038] Please see Figures 1 to 4 The boom system includes a rotating base 4, which is mounted on the top of the mounting platform 3. A fixed column 5 is fixedly mounted on the top of the rotating base 4. A first main boom 6 is rotatably connected to the top of the fixed column 5. A lifting cylinder 7 is rotatably connected to the lower side of the fixed column 5. The telescopic end of the lifting cylinder 7 is rotatably connected to the lower part of the first main boom 6 near its end. A telescopic boom 8 is telescopically connected to the end of the first main boom 6 away from the fixed column 5. A telescopic cylinder 9 is installed between the upper part of the telescopic boom 8 near its middle and the upper part of the first main boom 6. A first auxiliary boom 10 is rotatably connected to the end of the telescopic boom 8 away from the first main boom 6. The upper part of the telescopic boom 8 is connected to... A first luffing cylinder 11 is rotatably connected between the top ends of the first auxiliary boom 10. A motor mounting bracket 12 is provided at the end of the first auxiliary boom 10. The upper and lower sides of the motor mounting bracket 12 are rotatably connected to the first auxiliary boom 10 and the support rod 13, respectively. An arc-shaped guide frame 14 is fitted on the outer side of the first auxiliary boom 10 near the motor mounting bracket 12. A second luffing cylinder 15 is rotatably connected between the bottom of the first auxiliary boom 10 and the bottom end of the arc-shaped guide frame 14. The end of the support rod 13 away from the motor mounting bracket 12 is rotatably connected to the bottom end of the arc-shaped guide frame 14. A rotary motor 16 is installed on the side of the motor mounting bracket 12 away from the first auxiliary boom 10 and the support rod 13.

[0039] Please see Figures 1 to 4 The gripper mechanism includes a gripping cylinder 17, which is installed at the end of a rotary motor 16. A U-shaped frame 18 is fixedly connected to the end of the gripping cylinder 17 away from the rotary motor 16. V-shaped grippers 19 are symmetrically and rotatably connected to both sides of the U-shaped frame 18 away from the gripping cylinder 17. Guide posts 20 are symmetrically and fixedly connected to the inner end of the U-shaped frame 18. A sliding sleeve 21 is fitted on the guide post 20. The telescopic end of the gripping cylinder 17 is fixedly connected to the sliding sleeve 21. A first transmission rod 22 is symmetrically and rotatably connected to both sides of the sliding sleeve 21. The end of the first transmission rod 22 away from the sliding sleeve 21 is rotatably connected to the middle of the V-shaped gripper 19. Anti-slip pads 23 are symmetrically installed on the inner walls of the upper and lower sides of the V-shaped gripper 19. The anti-slip pads 23 are made of metal and have anti-slip protrusions on their outer surface. The anti-slip pads 23 are fixedly connected to the inner wall of the V-shaped gripper 19 by bolt installation.

[0040] The chassis 1 is controlled to move by the operating system in the cab 2, and the hydraulic system is controlled to work by the operating system, the first main arm 6 is driven to rotate by the lifting oil cylinder 7 with the top of the first main arm 6 as a fulcrum, the telescopic arm 8 is driven to move laterally by the telescopic oil cylinder 9, the first auxiliary arm 10 is driven to rotate by the first luffing oil cylinder 11 with the end of the telescopic arm 8 as a fulcrum, the motor mounting rack 12 is driven to rotate by the second luffing oil cylinder 15 with the end of the first auxiliary arm 10 as a fulcrum, the motor mounting rack 12 is driven to rotate by the arc-shaped guide frame 14 and the supporting rod 13, the claw mechanism is installed at the end of the rotating motor 16, and the claw mechanism is driven to rotate as a whole, the claw mechanism is installed at the end of the arm support system, the hydraulic system is controlled to work by the operating system, and multiple degrees of freedom of movement can be provided for the claw mechanism, the sliding sleeve 21 is driven to move by the first transmission rod 22 when the clamping oil cylinder 17 works, the V-shaped claw 19 is driven to open and close by the sliding sleeve 21, so that the drill rod is clamped or released, and the drill rod is conveniently installed or disassembled through the claw mechanism with multiple degrees of freedom.

[0041] Embodiment two:

[0042] Please refer to Figures 5 to 7 Embodiment two is different from embodiment one in that the structures of the arm support system and the claw mechanism are different, at this time, the chassis 1 in the embodiment provides pneumatic power for the arm support system and the claw mechanism, and the arm support system and the claw mechanism are driven by pneumatic actuators.

[0043] Please refer to Figures 5 to 7 The arm support system further includes a support 24, the support 24 is fixedly installed on the top of the installation platform 3, a rotating vertical column 25 is rotationally connected to the top of the support 24, a second main arm 26 is rotationally connected to the top of the rotating vertical column 25, a lifting cylinder 27 is rotationally connected between one side of the rotating vertical column 25 and the end of the second main arm 26, a second auxiliary arm 28 is rotationally connected to the end of the second main arm 26 away from the rotating vertical column 25, an operating installation arm 29 is rotationally connected below the end of the second auxiliary arm 28 away from the second main arm 26, a control panel mounting rack 30 is fixedly connected to the outer side below the operating installation arm 29, a control panel 31 is installed on the end of the control panel mounting rack 30 away from the operating installation arm 29, a rotating cylinder mounting rack 32 is rotationally connected to the bottom end of the second auxiliary arm 28, a turnover cylinder 33 is rotationally connected between the second auxiliary arm 28 and the rotating cylinder mounting rack 32, a rotating cylinder 34 is installed on one side of the rotating cylinder mounting rack 32 close to the middle, and the rotating structures of the rotating vertical column 25, the second auxiliary arm 28 and the operating installation arm 29 are limited in rotation by a locking mechanism;

[0044] Please refer to Figures 5 to 7The gripper mechanism also includes a gripper mounting bracket 35. A gripper mounting bracket 35 is rotatably connected to the side of a rotary cylinder mounting bracket 32 ​​away from the rotary cylinder 34. The shaft end of the rotary cylinder 34 is fixedly connected to the gripper mounting bracket 35. Grip cylinders 36 are symmetrically mounted on the upper and lower sides of the gripper mounting bracket 35 away from the rotary cylinder mounting bracket 32. Mounting rods 37 are symmetrically fixedly connected to the four sides of the gripper mounting bracket 35 near the gripping cylinders 36. A fixing bracket 38 is fixedly connected to the end of the mounting rods 37 away from the gripper mounting bracket 35. Grip arms 39 are symmetrically rotatably connected to both sides of the fixing bracket 38. A transmission frame 40 is provided between the gripping arms 39. The telescopic end of the gripping cylinder 36 is fixedly connected to the transmission frame 40. A second transmission rod 41 is symmetrically rotatably connected. The end of the second transmission rod 41 away from the transmission frame 40 is rotatably connected to the clamping arm 39. A V-shaped clamping frame 42 is installed on the inner side of the clamping arm 39 near the end. The locking mechanism includes a brake disc 43. The brake disc 43 is fixedly connected to the outer side of the support 24 near the rotating column 25. The brake disc 43 is also fixedly connected to the outer side of the rotating shaft of the second auxiliary arm 28. The brake disc 43 is also fixedly connected to the outer side of the operating mounting arm 29 near the second auxiliary arm 28. A pneumatic clamping frame 44 is installed on the side of the rotating column 25, the second main arm 26, and the second auxiliary arm 28 corresponding to the brake disc 43. A brake pad 45 is installed on the inner side of the pneumatic clamping frame 44 near the brake disc 43.

[0045] The chassis 1 is controlled to move by the control system inside the cab 2, and the pneumatic mechanism is controlled by the control system and control panel 31. The lifting cylinder 27 drives the second main arm 26 to rotate up and down. The tilting cylinder 33 drives the rotating cylinder mounting bracket 32 ​​to rotate around the bottom of the second auxiliary arm 28. The rotating cylinder 34 drives the entire gripper mechanism to rotate. When the gripper mechanism is working, the clamping cylinder 36 controls the transmission frame 40 to move. When the transmission frame 40 moves, it drives the clamping arm 39 to open and close through the second transmission rod 41. The clamping arm 39 clamps or releases the drill rod through the V-shaped clamping frame 42. The pneumatic clamping frame 44 is controlled to open and close by the control system and control panel 31. When the pneumatic clamping frame 44 opens, it drives the brake pad 45 away from the brake disc 43, so that the rotating column 25, the second auxiliary arm 28 and the operating mounting arm 29 can rotate. The lifting cylinder 27, the tilting cylinder 33 and the rotating cylinder 34 can provide multiple degrees of freedom of movement for the gripper mechanism.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drill pipe loading and unloading vehicle, comprising a chassis (1), a cab (2), an installation platform (3), a boom system, and a gripper mechanism, characterized in that: The chassis (1) serves as the vehicle's mobile platform and power base, providing hydraulic or pneumatic power. The driver's cab (2) is mounted on the chassis (1) and integrates a control system; The mounting platform (3) is located on the top of the chassis (1) near the front and is used to mount the boom system; The boom system is installed above the mounting platform (3) and is driven by hydraulic or pneumatic actuators; The boom system includes a rotating base (4), the top of the mounting platform (3) is equipped with the rotating base (4), the top of the rotating base (4) is fixedly equipped with a fixed column (5), the top of the fixed column (5) is rotatably connected to a first main boom (6), the fixed column (5) is rotatably connected to a lifting cylinder (7) near the lower side, the telescopic end of the lifting cylinder (7) is rotatably connected to the lower part of the first main boom (6) near the end, the end of the first main boom (6) away from the fixed column (5) is telescopically connected to a telescopic arm (8), the upper part of the telescopic arm (8) near the middle is equipped with a telescopic cylinder (9) between the upper part of the telescopic arm (8) and the upper part of the first main boom (6), the end of the telescopic arm (8) away from the first main boom (6) is rotatably connected to a first auxiliary boom (10), the telescopic arm ( 8) A first luffing cylinder (11) is rotatably connected between the top of the first auxiliary arm (10) and the top of the first auxiliary arm (10). A motor mounting bracket (12) is provided at the end of the first auxiliary arm (10). The upper and lower sides of the motor mounting bracket (12) are rotatably connected to the first auxiliary arm (10) and the support rod (13) respectively. An arc-shaped guide frame (14) is fitted on the outer side of the first auxiliary arm (10) near the motor mounting bracket (12). A second luffing cylinder (15) is rotatably connected between the bottom of the first auxiliary arm (10) and the bottom of the arc-shaped guide frame (14). The end of the support rod (13) away from the motor mounting bracket (12) is rotatably connected to the bottom of the arc-shaped guide frame (14). A rotary motor (16) is installed on the side of the motor mounting bracket (12) away from the first auxiliary arm (10) and the support rod (13). The boom system also includes a support (24), on the top of the mounting platform (3) the support (24) is fixedly installed, the top of the support (24) is rotatably connected to a rotating column (25), the top of the rotating column (25) is rotatably connected to a second main boom (26), a lifting cylinder (27) is rotatably connected between one side of the rotating column (25) and the end of the second main boom (26), a second auxiliary boom (28) is rotatably connected to the end of the second main boom (26) away from the rotating column (25), and an operating mounting arm (29) is rotatably connected below the end of the second auxiliary boom (28) away from the second main boom (26). 29) A control panel mounting bracket (30) is fixedly connected to the outer side near the bottom. A control panel (31) is installed on the end of the control panel mounting bracket (30) away from the operating mounting arm (29). A rotary cylinder mounting bracket (32) is rotatably connected to the bottom end of the second auxiliary arm (28). A tilting cylinder (33) is rotatably connected between the second auxiliary arm (28) and the rotary cylinder mounting bracket (32). A rotary cylinder (34) is installed on the side of the rotary cylinder mounting bracket (32) near the middle. The rotation structure of the rotating column (25), the second auxiliary arm (28) and the operating mounting arm (29) is limited by a locking mechanism. The gripper mechanism, connected to the end of the boom system, is used to grip and release the drill rod and is driven by a hydraulic actuator or a pneumatic actuator.

2. The drill pipe loading and unloading vehicle according to claim 1, characterized in that: The gripper mechanism includes a gripping cylinder (17), which is installed at the end of a rotary motor (16). A U-shaped frame (18) is fixedly connected to the end of the gripping cylinder (17) away from the rotary motor (16). V-shaped grippers (19) are symmetrically rotatably connected to both sides of the U-shaped frame (18) away from the gripping cylinder (17). Guide posts (20) are symmetrically fixedly connected to the inner end of the U-shaped frame (18). A sliding sleeve (21) is fitted on the guide post (20). The telescopic end of the gripping cylinder (17) is fixedly connected to the sliding sleeve (21). A first transmission rod (22) is symmetrically rotatably connected to both sides of the sliding sleeve (21). The end of the first transmission rod (22) away from the sliding sleeve (21) is rotatably connected to the middle of the V-shaped gripper (19). Anti-slip pads (23) are symmetrically installed on the inner walls of the upper and lower sides of the V-shaped gripper (19).

3. The drill pipe loading and unloading vehicle according to claim 2, characterized in that: The anti-slip pad (23) is made of metal material, and the outer surface of the anti-slip pad (23) is provided with anti-slip protrusions. The anti-slip pad (23) is fixedly connected to the inner wall of the V-shaped claw (19) by bolt installation.

4. The drill pipe loading and unloading vehicle according to claim 1, characterized in that: The gripper mechanism also includes a gripper mounting bracket (35). The gripper mounting bracket (35) is rotatably connected to the side of the rotary cylinder mounting bracket (32) away from the rotary cylinder (34). The shaft end of the rotary cylinder (34) is fixedly connected to the gripper mounting bracket (35). Clamping cylinders (36) are symmetrically mounted on the upper and lower sides of the gripper mounting bracket (35) away from the rotary cylinder mounting bracket (32). Mounting rods (37) are symmetrically fixedly connected to the four sides of the gripper mounting bracket (35) near the clamping cylinders (36). The mounting rods (37) are located away from the gripper mounting bracket (32). 35) A fixed frame (38) is fixedly connected to one end. Clamping arms (39) are symmetrically and rotatably connected to both sides of the fixed frame (38). A transmission frame (40) is provided between the clamping arms (39). The telescopic end of the clamping cylinder (36) is fixedly connected to the transmission frame (40). A second transmission rod (41) is symmetrically and rotatably connected to both sides of the transmission frame (40). The end of the second transmission rod (41) away from the transmission frame (40) is rotatably connected to the clamping arm (39). A V-shaped clamping frame (42) is installed on the inner side of the clamping arm (39) near the end.

5. The drill pipe loading and unloading vehicle according to claim 1, characterized in that: The locking mechanism includes a brake disc (43). The support (24) is fixedly connected to the outer side of the rotating column (25). The outer side of the rotating shaft of the second auxiliary arm (28) is also fixedly connected to a brake disc (43). The operating mounting arm (29) is also fixedly connected to the outer side of the second auxiliary arm (28). The rotating column (25), the second main arm (26), and the second auxiliary arm (28) are all equipped with pneumatic clamping frames (44) on the side corresponding to the brake disc (43). The pneumatic clamping frame (44) is equipped with brake pads (45) on the inner side of the brake disc (43).

Images