Drill rod cleaning device and automatic drill rod feeding and unloading system for coal mine drilling rig

Abstract

The present application provides a kind of coal mine drilling rig with drill rod cleaning device and automatic up and down drill rod system, it is related to coal mining equipment technical field, including cleaning mechanism, cleaning mechanism includes half circle cover, winding drum and cotton roll, two half circle covers are circumferentially around the outer peripheral side of drill rod and with the outer peripheral surface of drill rod and define annular cavity;Each half circle cover can be pivotally installed with winding drum and cotton roll, winding drum and cotton roll are arranged on the two sides of drill rod along its radial, cotton on cotton roll can enter annular cavity and be stretched between cotton roll and winding drum, cotton in annular cavity is covered on the outer peripheral surface of drill rod and is movably connected with drill rod along the circumference of drill rod to wipe the outer peripheral surface of drill rod.The present application can be positioned on drill rod and wipe drill rod surface using cotton, to effectively remove drill rod surface attachments, cleaning effect is good, and operation efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of coal mining equipment technology, and in particular to a drill rod cleaning device for coal mine drilling rigs and an automatic drill rod loading and unloading system. Background Technology

[0002] In underground coal mine drilling operations such as gas extraction and water exploration, drill rods need to be frequently picked up and unloaded. To reduce manpower and increase safety, robotic arms capable of automatically grabbing and transferring drill rods are now available. These robotic arms use grippers to hold the drill rods in conjunction with a power head to complete the picking and unloading operations. However, after drilling, the outer wall of the drill rod is usually covered with a large amount of mud, rock cuttings, and other deposits. When these deposits enter the gripping interface between the robotic arm and the drill rod, they significantly reduce the coefficient of friction, causing the grippers to slip during uncoupling, preventing the drill rod from being properly loosened, and even posing a risk of the drill rod falling off. This severely restricts the continuity and safety of automatic rod unloading. Furthermore, the dried mud cake can form an uneven layer, compromising the centering accuracy of the robotic arm and causing the threads to bear additional bending moments during uncoupling, exacerbating joint wear or seizing.

[0003] To address the aforementioned issues, the following methods are commonly used in related technologies for cleaning drill pipes: 1. Some drilling rigs are equipped with fixed scrapers at the borehole opening, but fixed scrapers can only scrape off soft mud layers. They are not effective at cleaning hardened mud cakes, and the gap cannot be adjusted after the scraper wears out. 2. Before unloading the drill rod, it is cleaned manually. Manual cleaning requires stopping the machine and having personnel close to the borehole, which reduces work efficiency and poses a significant safety risk. 3. High-pressure water flushing is used, but water mist dispersion in the underground coal dust environment will worsen working conditions and increase the difficulty of explosion prevention. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, one embodiment of the present invention provides a drill rod cleaning device for coal mine drilling rigs. This drill rod cleaning device can be clamped on the drill rod and wiped with a cotton cloth to effectively remove the adhering substances on the drill rod surface, resulting in good cleaning effect and high operating efficiency.

[0006] Another embodiment of the present invention provides an automatic drill pipe loading and unloading system.

[0007] According to an embodiment of the present invention, a drill rod cleaning device for a coal mine drilling rig includes a cleaning mechanism, which includes a semi-circular sleeve, a winding cylinder, and a cotton cloth roll. Two semi-circular sleeves are arranged around the outer periphery of the drill rod in a circumferential direction, defining an annular cavity between them and the outer periphery of the drill rod. The winding cylinder and the cotton cloth roll are pivotally mounted on each semi-circular sleeve, respectively located on both sides of the drill rod along its radial direction. The cotton cloth on the cotton cloth roll can enter the annular cavity and be stretched between the cotton cloth roll and the winding cylinder. The cotton cloth located in the annular cavity covers the outer periphery of the drill rod and is movably connected to the drill rod along its circumferential direction to wipe the outer periphery of the drill rod.

[0008] According to an embodiment of the present invention, a drill rod cleaning device for coal mine drilling rigs includes two semi-circular sleeves installed on the outer periphery of the drill rod. When cleaning of the drill rod surface is required, the cotton cloth roll and winding drum are activated. The cotton cloth roll releases cotton cloth, which is then stretched between the cotton cloth roll and the winding drum after passing through an annular cavity. Simultaneously, the cotton cloth located in the annular cavity covers the drill rod surface. Subsequently, the pulling force of the winding drum on the cotton cloth causes the cotton cloth to move along the circumference of the drill rod to circumferentially wipe the drill rod surface, thereby wiping away mud, rock cuttings, and other adhering substances on the drill rod surface and ensuring cleaning effectiveness. The cotton cloth, after completing the wiping operation, is finally wound back onto the winding drum. The entire cleaning process can be completed automatically before the drill rod is unloaded, without stopping the machine. Therefore, compared with related technologies, the present invention can be positioned on the drill rod and uses cotton cloth to wipe the drill rod surface to effectively remove adhering substances from the drill rod surface, resulting in good cleaning effect and high operating efficiency.

[0009] In some embodiments, the cleaning mechanism further includes a first abutment cylinder pivotally mounted in the annular cavity, the first abutment cylinder being movably connected to the semicircular sleeve along the radial direction of the drill rod and having a first position and a second position, the first abutment cylinder rollingly contacting the cotton cloth in the first position to press the cotton cloth against the drill rod, and the first abutment cylinder being spaced apart from the cotton cloth in the second position; The first abutment consists of multiple abutments arranged circumferentially along the drill rod.

[0010] In some embodiments, the cleaning mechanism further includes a pressure assembly and a slide rod. The semicircular sleeve has a cavity surrounding the outer periphery of the annular cavity. The pressure assembly includes an arc-shaped ring and a gear. The arc-shaped ring is located in the cavity and is movably connected to the semicircular sleeve. The arc-shaped ring is provided with a rack and a protrusion. The gear is pivotally mounted on the semicircular sleeve and meshes with the rack. The first abutment is mounted on the slide rod. The slide rod is movably connected to the semicircular sleeve and has a third position and a fourth position. In the third position, the slide rod abuts against the protrusion and is arranged radially along the drill rod. In the fourth position, the slide rod is spaced apart from the protrusion and is arranged circumferentially along the drill rod. When the gear meshes with the rack, the arc-shaped ring can slide relative to the semi-circular sleeve along the circumference of the drill rod, so that the slide rod switches between the third position and the fourth position; when the slide rod switches from the third position to the fourth position, the first abutment can slide relative to the semi-circular sleeve along the radial direction of the drill rod from the first position to the second position. There are multiple sliding rods, each corresponding to one of the first abutment cylinders, and there are multiple protrusions, each corresponding to one of the sliding rods.

[0011] In some specific embodiments, the pressurizing assembly also includes a driving component connected to a gear transmission to drive the gear to rotate, thereby causing the gear to mesh with a transmission rack. For example, the driving component can be a motor, which can be installed in a cavity. A shaft is coaxially fixedly connected to the output shaft of the motor, and the gear is coaxially fixedly connected to the shaft.

[0012] In some embodiments, the cleaning mechanism further includes a reset assembly, which includes an elastic element sandwiched between the semicircular sleeve and the slide rod and capable of pressing the slide rod to switch the first abutment from the first position to the second position.

[0013] In some specific embodiments, the reset assembly further includes a first guide rod, which is connected to the semi-circular sleeve and located within the cavity. One end of the first guide rod away from the semi-circular sleeve is slidably connected to the slide rod, and the elastic element is sleeved on the first guide rod.

[0014] In some embodiments, the cleaning mechanism further includes a second abutment, which is pivotally mounted on each of the semicircular sleeves. The second abutment is located on the tensioning path of the cotton cloth to guide the cotton cloth. There are at least two second abutments, which are respectively located on both sides of the annular cavity along the radial direction of the drill rod.

[0015] In some specific embodiments, the second abutments of the two semicircular sleeves correspond one-to-one, and all the second abutments of the two semicircular sleeves together define a guide channel, which extends along the tension path of the cotton fabric, and the cotton fabric can slide within the guide channel along its extension direction.

[0016] In some embodiments, the cleaning mechanism further includes a slider movably connected to the semicircular sleeve along a first direction arranged at an angle to the tension path of the cotton fabric. The slider is located on the tension path of the cotton fabric and adjacent to the winding drum. The slider is capable of abutting against the side of the cotton fabric facing the drill rod to scrape off the deposits on the cotton fabric.

[0017] In some embodiments, each of the semicircular sleeves is provided with a slider to clean the cotton cloth after wiping the drill rod.

[0018] In some specific embodiments, the cleaning mechanism further includes a first lead screw and a second guide rod. The first lead screw is pivotally mounted on the semi-circular sleeve, the second guide rod is connected to the semi-circular sleeve, the slider is threadedly engaged with the first lead screw and slidably connected to the second guide rod, and there are two second guide rods respectively located on both sides of the first lead screw.

[0019] In some specific embodiments, the cleaning mechanism further includes a transmission assembly, which includes a pulley one, a belt, and a pulley two. The pulley one is mounted on the first lead screw, and the pulley two is mounted on the second abutment cylinder closest to the first lead screw. The pulley one and the pulley two are connected by the belt drive.

[0020] In some embodiments, the two semicircular sleeves are movably connected along the radial direction of the drill pipe.

[0021] In some embodiments, the cleaning mechanism is a single unit, or the cleaning mechanism is a plurality of units arranged sequentially along the axial direction of the drill pipe; The cleaning device further includes a drive assembly comprising a base and a second lead screw. One of the semicircular sleeves of each cleaning mechanism is connected to the base, and the other semicircular sleeve is slidably connected to the base. The second lead screw is pivotally mounted on the base, and one of the semicircular sleeves slidably connected to the base is also threadedly engaged with the second lead screw.

[0022] In some embodiments, the cleaning device further includes a water replenishment assembly comprising a water tank and a conduit, the water tank being in communication with the conduit to supply water to the conduit, at least a portion of the conduit being located between the two cotton rolls of the cleaning mechanism, and a nozzle being provided on one side of the conduit facing the cotton rolls for spraying water onto the cotton to wet the cotton.

[0023] In some embodiments, there are multiple water replenishment components, and each of the multiple water replenishment components corresponds one-to-one with a multiple cleaning mechanism in the entry direction adjacent to the drill pipe, and the water tank is installed on the base.

[0024] An automatic drill pipe loading and unloading system according to an embodiment of the present invention includes a drill pipe cleaning device and a robotic arm. The drill pipe cleaning device is the drill pipe cleaning device described in any of the above embodiments. The robotic arm is connected to the drill pipe cleaning device so that the robotic arm can grip and transfer the drill pipe after it has been cleaned by the drill pipe cleaning device.

[0025] According to an embodiment of the present invention, the automatic drill rod loading and unloading system has a drill rod cleaning device designed as a drill rod cleaning structure that can be positioned on the drill rod and wipe the surface of the drill rod with a cotton cloth. This design has a good cleaning effect on the surface of the drill rod. Therefore, compared with related technologies, the drill rod loading and unloading system using this drill rod cleaning device can remove the surface of the drill rod and achieve reliable clamping of the drill rod by the robot arm.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the connection structure between the drill rod cleaning device for coal mine drilling rigs and the drill rod according to an embodiment of the present invention.

[0028] Figure 2 yes Figure 1 A magnified schematic diagram of the structure at point A in the middle.

[0029] Figure 3 This is a cross-sectional view of a drill pipe cleaning device for coal mine drilling rigs according to an embodiment of the present invention. Figure 1 .

[0030] Figure 4 This is a cross-sectional view of a drill pipe cleaning device for coal mine drilling rigs according to an embodiment of the present invention. Figure 2 .

[0031] Figure 5 yes Figure 4 A magnified schematic diagram of the structure at point B in the middle.

[0032] Figure 6This is a schematic diagram of the connection structure of the semi-circular sleeve, cotton roll, and guide tube in the drill rod cleaning device for coal mine drilling rigs according to an embodiment of the present invention.

[0033] Figure label: 101. Drill rod; 201. Semicircular sleeve; 202. First abutment cylinder; 203. Sliding rod; 204. Protrusion; 205. Arc ring; 206. Rack; 207. Gear; 208. Shaft; 209. Motor; 301. First guide rod; 302. Elastic element; 303. Second abutment cylinder; 304. Winding cylinder; 305. Cotton cloth roll; 306. First lead screw; 307. Second guide rod; 308. Slider; 309. Pulley one; 401. Belt; 402. Pulley two; 403. Base; 404. Second lead screw; 405. Water tank; 406. Guide pipe; 407. Nozzle. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] like Figures 1 to 3 As shown in the figure, a drill rod cleaning device for a coal mine drilling rig according to an embodiment of the present invention includes a cleaning mechanism, which includes a semi-circular sleeve 201, a winding cylinder 304, and a cotton cloth roll 305. There are two semi-circular sleeves 201, which are wrapped around the outer periphery of the drill rod 101 in the circumferential direction and define an annular cavity between them and the outer periphery of the drill rod 101. The winding cylinder 304 and the cotton cloth roll 305 are pivotally mounted on each semi-circular sleeve 201. The winding cylinder 304 and the cotton cloth roll 305 are respectively located on both sides of the drill rod 101 in the radial direction. The cotton cloth on the cotton cloth roll 305 can enter the annular cavity and be stretched between the cotton cloth roll 305 and the winding cylinder 304. The cotton cloth located in the annular cavity covers the outer periphery of the drill rod 101 and is movably connected to the drill rod 101 in the circumferential direction of the drill rod 101 to wipe the outer periphery of the drill rod 101.

[0036] According to an embodiment of the present invention, a drill rod cleaning device for a coal mine drilling rig has two semi-circular sleeves 201 installed on the outer periphery of the drill rod 101. When cleaning of the surface of the drill rod 101 is required, the cotton cloth roll 305 and the winding drum 304 are activated. The cotton cloth roll 305 releases cotton cloth, which is stretched between the cotton cloth roll 305 and the winding drum 304 after passing through the annular cavity. At the same time, the cotton cloth located in the annular cavity covers the surface of the drill rod 101. Then, the pulling force of the winding drum 304 on the cotton cloth causes the cotton cloth to move along the drill rod. The circumferential movement of 101 circumferentially wipes the surface of drill rod 101, achieving the wiping of mud, rock cuttings and other adhering substances on the surface of drill rod 101, ensuring the cleaning effect. The cotton cloth that has completed the wiping operation is finally wound and recycled onto the winding drum 304. The entire cleaning process can be completed automatically before the drill rig unloads the rod, without stopping the machine. Therefore, compared with related technologies, this invention can be positioned on drill rod 101 and use cotton cloth to wipe the surface of drill rod 101 to effectively remove adhering substances from the surface of drill rod 101, with good cleaning effect and high operation efficiency.

[0037] Specifically, each semicircular sleeve 201 includes a semicircular portion and an ear portion connected to each other. The semicircular portions of the two semicircular sleeves 201 surround the outer periphery of the drill rod 101 and define an annular cavity between them and the outer periphery of the drill rod 101. There are two ears, which are respectively located on both sides of the semicircular portion along its radial direction. A guide channel communicating with the annular cavity is defined between the adjacent ears of the two semicircular sleeves 201. The second abutment 303 described below is pivotally mounted in the guide channel. The winding cylinder 304 and the cotton roll 305 are respectively mounted on one ear portion. The winding cylinder 304 on the two semicircular sleeves 201 can be located on the same side of the drill rod 101 along its radial direction. The cotton roll 305 on the two semicircular sleeves 201 can be located on the same side of the drill rod 101 along its radial direction. The radial direction of the semicircular portion is consistent with the radial direction of the drill rod 101. For example, the two winding cylinders 304 are symmetrically arranged on one side of the semicircular portion, and the two cotton rolls 305 are symmetrically arranged on the other side of the semicircular portion.

[0038] In addition, each semicircular sleeve 201 can be equipped with a drive motor, which is connected to the corresponding winding drum 304 to drive the winding drum 304 to rotate relative to the semicircular sleeve 201, and then the winding drum 304 will wind and recycle the cotton cloth that has completed the wiping operation.

[0039] like Figures 3 to 5 As shown, in some embodiments, the cleaning mechanism further includes a first abutment 202, which is pivotally mounted in the annular cavity. The first abutment 202 is movably connected to the semi-circular sleeve 201 radially along the drill rod 101 and has a first position and a second position. In the first position, the first abutment 202 rolls into contact with the cotton cloth to press the cotton cloth onto the drill rod 101, and in the second position, the first abutment 202 is spaced apart from the cotton cloth.

[0040] Multiple first abutment cylinders 202 are arranged circumferentially along the drill rod 101 to ensure the contact effect between the cotton cloth and the outer circumferential surface of the drill rod 101, thereby further improving the cleaning quality of the adhering substances on the surface of the drill rod 101.

[0041] It is understandable that by stretching the cotton cloth between the cotton cloth roll 305 and the winding drum 304, the first abutment drum 202 can press the cotton cloth tightly onto the surface of the drill rod 101, and then, with the help of the pulling force of the winding drum 304 on the cotton cloth, the surface of the drill rod 101 can be effectively wiped and cleaned.

[0042] Specifically, the first abutment 202 extends along the axial direction of the drill rod 101, and the first abutment 202 is movably connected to the semi-circular portion along the radial direction of the drill rod 101. Multiple first abutment 202s can be arranged at equal intervals along the circumference of the drill rod 101 to further improve the adhesion between the cotton cloth and the surface of the drill rod 101.

[0043] like Figures 3 to 5 As shown, in some embodiments, the cleaning mechanism further includes a pressurizing assembly and a slide rod 203. The semicircular sleeve 201 has a cavity surrounding the outer periphery of the annular cavity. The pressurizing assembly includes an arc-shaped ring 205 and a gear 207. The arc-shaped ring 205 is located in the cavity and is movably connected to the semicircular sleeve 201. The arc-shaped ring 205 is provided with a rack 206 and a protrusion 204. The gear 207 is pivotally mounted on the semicircular sleeve 201 and meshes with the rack 206. The first abutment 202 is mounted on the slide rod 203. The slide rod 203 is movably connected to the semicircular sleeve 201 and has a third position and a fourth position. In the third position, the slide rod 203 abuts against the protrusion 204 and is arranged radially along the drill rod 101. In the fourth position, the slide rod 203 is spaced apart from the protrusion 204 and is arranged circumferentially along the drill rod 101.

[0044] When gear 207 meshes with transmission rack 206, arc ring 205 can slide relative to semi-circular sleeve 201 along the circumference of drill rod 101, so that slide rod 203 switches between the third position and the fourth position; when slide rod 203 switches from the third position to the fourth position, first abutment 202 can slide relative to semi-circular sleeve 201 along the radial direction of drill rod 101 from the first position to the second position.

[0045] There are multiple slide rods 203, each corresponding to a first abutment 202, and multiple protrusions 204, each corresponding to a slide rod 203.

[0046] Understandably, the pressure component drives the slide bar 203 to radially press the cotton cloth against the surface of the drill rod 101. The wiping pressure is adjustable, avoiding damage to the anti-corrosion layer or joints on the surface of the drill rod 101 by rigid scraping. At the same time, the cotton cloth has a certain elasticity and deformability, which can adapt to the diameter changes and shape deviations on the surface of the drill rod 101 within a certain range, ensuring the continuity of cleaning.

[0047] Specifically, based on the above structure, the semicircular portion has a cavity surrounding the outer periphery of the annular cavity; that is, the cavity is located between the inner and outer wall surfaces of the semicircular portion. The arc-shaped ring 205 is movably connected to the semicircular portion along the circumference of the drill rod 101. The gear 207 is pivotally mounted on the semicircular portion. A rack 206 is provided on the side of the arc-shaped ring 205 facing the gear 207, extending circumferentially along the drill rod 101. A protrusion 204 is provided on the side of the arc-shaped ring 205 facing the slide rod 203. The protrusion 204 can roll against the slide rod 203 to reduce wear on the slide rod 203 and ensure its service life.

[0048] In some specific embodiments, the pressurizing assembly also includes a driving component, which is connected to the gear 207 to drive the gear 207 to rotate, thereby causing the gear 207 to mesh with the transmission rack 206. The driving component automatically controls the movement of the slide bar 203 to adjust the position of the first abutment cylinder 202 relative to the cotton cloth. The driving component can be a motor 209, which can be installed in the cavity. A shaft 208 is coaxially fixedly connected to the output shaft of the motor 209, and the gear 207 is coaxially fixedly connected to the shaft 208.

[0049] like Figures 3 to 5 As shown, in some embodiments, the cleaning mechanism further includes a reset component, which includes an elastic element 302. The elastic element 302 is sandwiched between the semi-circular sleeve 201 and the slide rod 203 and can press the slide rod 203 to switch the first abutment 202 from the first position to the second position, so that the elastic element 302 drives the first abutment 202 to automatically reset, thereby further optimizing the working performance of the cleaning mechanism.

[0050] Specifically, there can be multiple elastic elements 302, each corresponding to a slide bar 203.

[0051] In some specific embodiments, the reset assembly further includes a first guide rod 301, which is connected to the semi-circular sleeve 201 and located within the cavity, i.e., the first guide rod 301 is connected to the semi-circular portion. The end of the first guide rod 301 facing away from the semi-circular sleeve 201 is slidably connected to the slide rod 203. The elastic element 302 can be a spring and is sleeved on the first guide rod 301. The first guide rod 301 can provide support for the elastic element 302 to guide the elastic element 302 to extend and retract radially along the drill rod 101.

[0052] Specifically, the first guide rod 301 can extend radially along the drill rod 101, and there can be multiple first guide rods 301, each corresponding to an elastic element 302.

[0053] In the above embodiment, when the user needs to slide the first abutment 202 toward the surface of the drill rod 101, the motor 209 can be started, so that the rack 206, under the action of the gear 207, begins to slide within the semi-circular sleeve 201 with the axis of the semi-circular sleeve 201 as the fulcrum. At this time, the multiple protrusions 204 fixedly connected to it gradually come into contact with the slide rod 203. The multiple slide rods 203 drive the first abutment 202 on them to slide toward the surface of the drill rod 101 until the cotton cloth is pressed against the surface of the drill rod 101 by the first abutment 202. Since the motor 209 has a self-locking effect, it can effectively limit the first abutment 202. At the same time, when the user starts the motor 209 to reset the arc ring 205, under the action of the elastic force of the elastic element 302, the first abutment 202 can quickly slide toward the end away from the surface of the drill rod 101, so as to remove the drill rod 101 from it.

[0054] like Figures 3 to 5 As shown, in some embodiments, the cleaning mechanism further includes a second abutment 303, which is pivotally mounted on each semicircular sleeve 201. The second abutment 303 is located on the tensioning path of the cotton cloth to guide the cotton cloth. There are at least two second abutments 303, which are respectively located on both sides of the annular cavity along the radial direction of the drill rod 101.

[0055] Understandably, multiple second pressure cylinders 303 can effectively pressurize the cotton fabric to position it and prevent it from deviating during winding.

[0056] Specifically, the second abutment 303 is pivotally mounted on the ear of the semicircular sleeve 201, and the axis of the second abutment 303 is perpendicular to the pulling direction of the cotton cloth.

[0057] In some specific embodiments, the second abutment cylinders 303 of the two semicircular sleeves 201 correspond one-to-one, and all the second abutment cylinders 303 of the two semicircular sleeves 201 together define a guide channel. The guide channel extends along the tension path of the cotton fabric, and the cotton fabric can slide in the guide channel along its extension direction.

[0058] like Figure 1 and Figure 2 As shown, in some embodiments, the cleaning mechanism further includes a slider 308, which is movably connected to the semi-circular sleeve 201 along a first direction. The first direction is arranged at an angle to the tensioning path of the cotton cloth. The slider 308 is located on the tensioning path of the cotton cloth and is arranged adjacent to the winding drum 304. The slider 308 can abut against the side of the cotton cloth facing the drill rod 101 to scrape off the adhering substances on the cotton cloth.

[0059] It is understandable that when the winding drum 304 is winding the wiped cotton cloth, the slider 308 can slide on the cotton cloth to scrape off the adhering substances on the cotton cloth, thereby reducing the impact of the adhering substances on the winding drum 304 on winding the cotton cloth.

[0060] like Figure 1 and Figure 2 As shown, in some embodiments, each semicircular sleeve 201 is provided with a slider 308 to clean the cotton cloth after wiping the drill rod 101.

[0061] In some specific embodiments, the cleaning mechanism further includes a first lead screw 306 and a second guide rod 307. The first lead screw 306 is pivotally mounted on the semi-circular sleeve 201, and the second guide rod 307 is connected to the semi-circular sleeve 201. The slider 308 is threadedly engaged with the first lead screw 306 and slidably connected to the second guide rod 307. The second guide rod 307 is used to guide the slider 308. There are two second guide rods 307, which are respectively located on both sides of the first lead screw 306.

[0062] Specifically, the first lead screw 306 is pivotally mounted on the lug of the semicircular sleeve 201, and the second guide rod 307 is connected to the lug of the semicircular sleeve 201.

[0063] In some specific embodiments, the cleaning mechanism further includes a transmission assembly, which includes a first pulley 309, a belt 401, and a second pulley 402. The first pulley 309 is sleeved on the first lead screw 306, and the second pulley 402 is sleeved on the second abutment cylinder 303 closest to the first lead screw 306. The first pulley 309 and the second pulley 402 are connected by the belt 401 so that the first lead screw 306 and the second abutment cylinder 303 rotate synchronously.

[0064] In the above embodiment, during the winding process of the winding drum 304, the cotton cloth is held by two corresponding second abutment cylinders 303. Therefore, during the pulling process of the cotton cloth, the second abutment cylinders 303 can start to rotate. Then, under the action of the belt 401, the corresponding pulley 309 can rotate. At this time, the first lead screw 306 can rotate to make the threaded slider 308 on it start to slide, thereby cleaning the side of the cotton cloth that is attached to the surface of the drill rod 101. Since the slider 308 cleans the dirt on the cotton cloth during the winding process of the winding drum 304, it can be synchronized, thereby effectively increasing the cleaning efficiency of the dirt on the cotton cloth and avoiding the impact of a lot of dirt on the cotton cloth on the winding of the winding drum 304.

[0065] like Figure 1 and Figure 2As shown, in some embodiments, the two semicircular sleeves 201 are movably connected radially to the drill rod 101 so that by adjusting the distance between the two semicircular sleeves 201, the two semicircular sleeves 201 can be brought closer to each other to position the drill rod 101, or the two semicircular sleeves 201 can be moved away from each other to remove the drill rod 101 from between them.

[0066] like Figure 1 and Figure 2 As shown, in some embodiments, the cleaning mechanism is a single unit, or multiple cleaning mechanisms are arranged sequentially along the axial direction of the drill pipe 101.

[0067] The cleaning device also includes a drive assembly, which includes a base 403 and a second lead screw 404. One semicircular sleeve 201 of each cleaning mechanism is connected to the base 403, and the other semicircular sleeve 201 is slidably connected to the base 403. The second lead screw 404 is pivotally mounted on the base 403. One of the semicircular sleeves 201 slidably connected to the base 403 is also threadedly engaged with the second lead screw 404. The user can manually or automatically rotate the second lead screw 404 to make the threaded semicircular sleeve 201 on it begin to slide, so that the user can bring the two semicircular sleeves 201 closer to each other to position the drill rod 101.

[0068] Understandably, by employing multiple cleaning mechanisms, multi-stage wiping of the drill rod 101 can be achieved, resulting in high cleanliness. During the entry and exit process, the drill rod 101 passes through multiple sets of semi-circular sleeves 201 in sequence, and the cotton cloth repeatedly wipes the surface of the same drill rod 101 multiple times. A single drill rod 101 can achieve multi-stage continuous cleaning in one operation, significantly improving the removal rate of deposits. The cleaning effect is far superior to that of a single-stage scraper or a single wipe, making it particularly suitable for working conditions with thick deposits or highly viscous mud.

[0069] The drive component can synchronize the actions of multiple cleaning mechanisms, reducing the difficulty of operating multiple cleaning mechanisms and improving work efficiency.

[0070] In the above embodiment, when using the drill rod 101 for construction, the end of the drill rod 101 facing away from the drilling machine is first passed through multiple semi-circular sleeves 201. Then, the drill rod 101 can be drilled into the soil layer for operation. When it is necessary to disassemble the drill rod 101, the user can use the drive component to make two corresponding semi-circular sleeves 201 move closer to each other. Since, in the initial state, the end of the cotton cloth on the cotton cloth roll 305 is between the first abutment 202 and the surface of the drill rod 101 (that is, the outer circumferential surface of the drill rod 101), and the slide rod 203 still has a certain distance from the surface of the drill rod 101, the cotton cloth has not yet touched the surface of the drill rod 101. Upon contact, after the semicircular sleeves 201 approach each other until the first abutment 202 clamps the cotton cloth between them, the user can use the pressure component to make multiple slide rods 203 slide towards the axis of the drill rod 101 until the cotton cloth is pressed against the surface of the drill rod 101, thus preparing for wiping the surface of the drill rod 101. Then, when the drill rod 101 enters the first set of semicircular sleeves 201, the user can start the drive motor connected to the winding drum 304. The winding drum 304 will then start winding the cotton cloth fixed on it, pulling the cotton cloth, and the cotton cloth wound on the cotton cloth roll 305 will begin to circulate and wipe the surface of the drill rod 101.

[0071] Furthermore, because multiple sets of semicircular sleeves 201 are set, the drill rod 101 can pass through multiple sets of semicircular sleeves 201 at once, which effectively increases the cleaning degree of the surface attachments, so as to avoid the problem of slippage when the robot arm is gripped due to a lot of attachments on the surface of the drill rod 101 during the disassembly process.

[0072] Alternatively, when installing the drill rod 101, a brand-new cleaning device can be used, and the end of the drill rod 101 can be inserted into the semi-circular sleeve 201 of the cleaning device so that the drill rod 101 can be clamped by the cleaning device, and then the drill rod 101 can be installed by means of the cleaning device.

[0073] like Figures 1 to 6 As shown, in some embodiments, the cleaning device further includes a water replenishment component, which includes a water tank 405 and a conduit 406. The water tank 405 is connected to the conduit 406 to supply water to the conduit 406. At least a portion of the conduit 406 is located between two cotton cloth rolls 305 of the cleaning mechanism. A nozzle 407 is provided on the side of the conduit 406 facing the cotton cloth rolls 305. The nozzle 407 is used to spray water onto the cotton cloth to wet it, thereby helping to ensure the cleaning effect on the drill rod 101.

[0074] Specifically, a pressure pump for pressurizing the clean water inside the water tank 405 may be installed. Multiple nozzles 407 may be installed and spaced apart on the conduit 406 to fully wet the cotton cloth.

[0075] like Figures 1 to 6As shown, in some embodiments, there are multiple water replenishment components, and each of the multiple water replenishment components corresponds one-to-one with a multiple cleaning mechanism in the entry direction of the adjacent drill rod 101. The water tank 405 is installed on the base 403.

[0076] Understandably, with the above structural design, the surface of the drill rod 101 can be first moistened and wiped with a damp cotton cloth, and then the surface moisture of the drill rod 101 can be wiped with a dry cotton cloth in the cleaning mechanism without matching water replenishment components, so as to ensure the cleaning effect on the surface of the drill rod 101.

[0077] In the above embodiment, since conduits 406 are provided between some of the cotton rolls 305, the user can pressurize and deliver clean water to the conduits 406 by activating the pressure pump in the water tank 405, and spray it onto the cotton rolls 305 through multiple nozzles 407 to wet the cotton cloth, thereby increasing the cleaning effect on the drill rod 101. Since conduits 406 are not provided between the other part of the cotton rolls 305, the water on the drill rod 101 can be wiped off with the dry cotton cloth on this part of the cotton rolls 305.

[0078] An automatic drill pipe loading and unloading system according to an embodiment of the present invention includes a drill pipe cleaning device and a robotic arm (not shown in the figure). The drill pipe cleaning device is any of the drill pipe cleaning devices described above. The robotic arm is connected to the drill pipe cleaning device so that the robotic arm can grip and transfer the drill pipe 101 after it has been cleaned by the drill pipe cleaning device.

[0079] According to an embodiment of the present invention, the automatic drill rod loading and unloading system has a drill rod cleaning device designed as a drill rod 101 cleaning structure that can be positioned on the drill rod 101 and wipe the surface of the drill rod 101 with a cotton cloth. This design has a good cleaning effect on the surface of the drill rod 101. Therefore, compared with related technologies, the drill rod loading and unloading system using this drill rod cleaning device can remove the surface of the drill rod 101 and achieve reliable clamping of the drill rod 101 by the robotic arm.

[0080] Therefore, compared with related technologies, the present invention has the following technical advantages: 1) Reliably removes deposits and completely avoids slippage during clamping: Multiple sets of semi-circular sleeves act sequentially on the outer wall of the drill pipe, and the surface of the drill pipe is wiped in a circular motion with cotton cloth. This effectively removes mud, rock cuttings and dried mud, restores the cleanliness of the clamping surface, and significantly increases the friction coefficient between the gripper and the drill pipe during unloading. This ensures that there will be no slippage or free rotation during the reverse uncoupling process of the power head, and ensures that the automatic unloading action is completed smoothly. 2) Multi-stage wiping, high cleanliness: During the entry and exit process, the drill rod passes through multiple sets of semi-circular sleeves in sequence. The cotton cloth wipes the outer wall of the same drill rod repeatedly. A single drill rod can achieve multi-stage continuous cleaning in one operation, which significantly improves the removal rate of attached materials. The cleaning effect is far better than single-stage scraper or one-time wiping. It is especially suitable for working conditions with thick attached layers or high viscosity mud. 3) Flexible and adaptive adhesion to protect the drill rod surface: The pressure component drives the slide bar to radially press the cotton cloth against the outer wall of the drill rod. The wiping pressure is adjustable, avoiding damage to the anti-corrosion layer or joints on the drill rod surface by rigid scraping. At the same time, the cotton cloth has a certain degree of elasticity and deformability, which can adapt to the diameter changes and shape deviations of the outer wall of the drill rod within a certain range, ensuring the continuity of cleaning. 4) The wiping medium is circulated and the long operation cycle is maintenance-free: the cotton cloth roll is fed to the drill rod to deliver clean cotton cloth, and the winding drum recovers the soiled cotton cloth, forming a step-by-step or continuous renewal of the wiping medium. It does not require frequent replacement or manual intervention for a long period of time, maintaining a stable wiping capacity and adapting to the operation needs of long boreholes and continuous unloading of multiple drill rods in coal mines. 5) Cleaning and clamping in one, simplifying the operation process: This structure provides both clamping and centering of the drill rod and cleaning functions. It can also be used as a support and guide mechanism when installing the drill rod. There is no need to add an additional independent cleaning station or process. The overall integration is high and does not increase the cycle time of the robot arm, which helps to improve the overall efficiency of automatic drill rod loading and unloading. 6) Prevent mud from entering the drill pipe chamber and protect subsequent mechanisms: The drill pipe is wiped clean before entering the robotic gripper stage, effectively reducing the amount of mud entering the drill pipe chamber, indexing mechanism and gripper joints, delaying mechanism jamming, wear and sensor misjudgment caused by mud accumulation, and improving the long-term operational reliability of the entire automatic drill pipe loading and unloading system.

[0081] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0082] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0083] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0084] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0085] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A drill rod cleaning device for coal mine drilling rigs, characterized in that, Includes a cleaning mechanism, said cleaning mechanism comprising: The semicircular sleeves are two in number, and the two semicircular sleeves surround the outer periphery of the drill rod in a circumferential direction and define an annular cavity between them and the outer periphery of the drill rod. A winding cylinder and a cotton cloth roll are pivotally mounted on each of the semicircular sleeves. The winding cylinder and the cotton cloth roll are respectively located on both sides of the drill rod along its radial direction. The cotton cloth on the cotton cloth roll can enter the annular cavity and be stretched between the cotton cloth roll and the winding cylinder. The cotton cloth located in the annular cavity covers the outer peripheral surface of the drill rod and is movably connected to the drill rod along the circumference of the drill rod to wipe the outer peripheral surface of the drill rod.

2. The drill rod cleaning device for coal mine drilling rigs according to claim 1, characterized in that, The cleaning mechanism further includes a first abutment cylinder, which is pivotally mounted in the annular cavity. The first abutment cylinder is movably connected to the semi-circular sleeve along the radial direction of the drill rod and has a first position and a second position. In the first position, the first abutment cylinder rolls into contact with the cotton cloth to press the cotton cloth onto the drill rod. In the second position, the first abutment cylinder is spaced apart from the cotton cloth. The first abutment consists of multiple abutments arranged circumferentially along the drill rod.

3. The drill rod cleaning device for coal mine drilling rigs according to claim 2, characterized in that, The cleaning mechanism also includes: A pressurizing assembly, wherein the semicircular sleeve has a cavity surrounding the outer periphery of the annular cavity, the pressurizing assembly includes an arc-shaped ring and a gear, the arc-shaped ring is located in the cavity and is movably connected to the semicircular sleeve, the arc-shaped ring is provided with a rack and a protrusion, and the gear is pivotally mounted on the semicircular sleeve and meshes with the rack; A slide rod, the first abutment is mounted on the slide rod, the slide rod is movably connected to the semi-circular sleeve and has a third position and a fourth position. In the third position, the slide rod abuts against the protrusion and is arranged radially along the drill rod. In the fourth position, the slide rod is spaced apart from the protrusion and is arranged circumferentially along the drill rod. When the gear meshes with the rack, the arc-shaped ring can slide relative to the semi-circular sleeve along the circumference of the drill rod, so that the slide rod switches between the third position and the fourth position; when the slide rod switches from the third position to the fourth position, the first abutment can slide relative to the semi-circular sleeve along the radial direction of the drill rod from the first position to the second position. There are multiple sliding rods, each corresponding to one of the first abutment cylinders, and there are multiple protrusions, each corresponding to one of the sliding rods.

4. The drill rod cleaning device for coal mine drilling rigs according to claim 3, characterized in that, The cleaning mechanism further includes a reset assembly, which includes an elastic element sandwiched between the semicircular sleeve and the slide rod and capable of pressing the slide rod to switch the first abutment from the first position to the second position.

5. The drill rod cleaning device for coal mine drilling rigs according to claim 1, characterized in that, The cleaning mechanism further includes a second abutment, which is pivotally mounted on each of the semicircular sleeves. The second abutment is located on the tensioning path of the cotton cloth to guide the cotton cloth. There are at least two second abutments, which are respectively located on both sides of the annular cavity along the radial direction of the drill rod.

6. The drill rod cleaning device for coal mine drilling rigs according to claim 1, characterized in that, The cleaning mechanism further includes a slider, which is movably connected to the semi-circular sleeve along a first direction. The first direction is arranged at an angle to the tensioning path of the cotton cloth. The slider is located on the tensioning path of the cotton cloth and is arranged adjacent to the winding drum. The slider can abut against the side of the cotton cloth facing the drill rod to scrape off the adhering substances on the cotton cloth.

7. The drill rod cleaning device for coal mine drilling rigs according to any one of claims 1-6, characterized in that, The two semicircular sleeves are movably connected along the radial direction of the drill rod.

8. The drill rod cleaning device for coal mine drilling rigs according to claim 7, characterized in that, The cleaning mechanism is a single unit, or the cleaning mechanism is multiple units arranged sequentially along the axial direction of the drill pipe; The cleaning device further includes a drive assembly comprising a base and a second lead screw. One of the semicircular sleeves of each cleaning mechanism is connected to the base, and the other semicircular sleeve is slidably connected to the base. The second lead screw is pivotally mounted on the base, and one of the semicircular sleeves slidably connected to the base is also threadedly engaged with the second lead screw.

9. The drill rod cleaning device for coal mine drilling rigs according to claim 1, characterized in that, It also includes a water replenishment component, which includes a water tank and a conduit. The water tank is connected to the conduit to supply water to the conduit. At least a portion of the conduit is located between the two cotton rolls of the cleaning mechanism. A nozzle is provided on one side of the conduit facing the cotton rolls for spraying water onto the cotton to wet the cotton.

10. An automatic drill pipe loading and unloading system, characterized in that, include: A drill pipe cleaning device, wherein the drill pipe cleaning device is the drill pipe cleaning device according to any one of claims 1-9; A robotic arm is connected to the drill pipe cleaning device so that the robotic arm can grip and transfer the drill pipe after it has been cleaned by the drill pipe cleaning device.

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