Drill rod conveying device with middle longitudinal opening

Abstract

The utility model relates to the technical field of coal mine drilling machines, and discloses a drill rod conveying device with a middle longitudinal opening, which comprises a drill rod box and a transfer mechanism, a drill rod in the drill rod box is perpendicular to a rack, the transfer mechanism comprises a first moving unit, and the first moving unit is arranged on one side, close to the rack, of the drill rod box. The first moving unit is arranged in the drill rod box and can slide in the axial direction perpendicular to the drill rod in the drill rod box, a lifting unit is installed on the first moving unit, a second moving unit is installed at the top of the lifting unit and can be driven by the lifting unit to ascend and descend, and the second moving unit can move in the axial direction of the drill rod in the drill rod box. The second moving unit is provided with a telescopic grabbing unit used for grabbing the drill rod. According to the technical scheme, the defects that in the prior art, under the large negative dip angle working condition, conveying is difficult, and the function is single are overcome, efficient, stable and convenient conveying of the coal mine underground drill rod is achieved, the increasing coal mining technology requirement is met, and the coal mine automatic mining process is promoted.

Description

Technical Field

[0001] This utility model relates to the field of coal mine drilling rig technology, specifically to a drill rod conveying device with a central longitudinal opening. Background Technology

[0002] In underground coal mining operations, drilling is a crucial step, and the performance of the drilling rig has a decisive impact on construction efficiency and quality. With the continuous development of coal mining technology, higher demands are being placed on the automation level and work efficiency of drilling rigs. As a core component of the drilling rig, the performance of the drill rod delivery system is of paramount importance.

[0003] Currently, most drill pipe conveying systems adopt the technical solution disclosed in patent number CN110952972B. In this solution, the drill pipe is placed parallel to the frame inside the drill pipe box, and the drill pipe is conveyed through the coordinated operation of a pipe delivery manipulator, a drill pipe transfer device, and a main manipulator. However, under conditions of large negative inclination angles, this design has serious flaws. The main manipulator will interfere with the tracked vehicle or the drill pipe transfer device, making it impossible to achieve automatic conveying of drill pipes. This greatly limits its application in complex working conditions and makes it difficult to meet the diverse operational needs of underground coal mines.

[0004] To address the aforementioned issues, patent CN219299240U discloses a drill rod loading and unloading device and a tunnel drilling rig. This device reverses the orientation of the drill rod box, positioning the drill rod perpendicular to the frame, and uses a drill rod conveying mechanism and a loading / unloading mechanism to complete the drill rod transport. While this solution overcomes the interference problem of the main manipulator under large negative inclination angles, new problems arise. The drill rod conveying mechanism is functionally limited and cannot directly remove the drill rod from the drill rod box; additional auxiliary devices are required to complete the entire drill rod transport process. This not only increases the system's complexity and equipment cost, but also, in the actual underground coal mine operating environment, the additional auxiliary devices occupy limited space, reducing operational efficiency. It fails to efficiently and conveniently meet the actual needs of underground coal mines for rapid and accurate drill rod transport, severely restricting the efficient implementation of underground drilling operations under complex conditions and hindering the further development of automated coal mining technology. Utility Model Content

[0005] This utility model aims to provide a drill pipe conveying device with a central longitudinal opening to solve the conveying problems and functional limitations of existing drill pipe conveying systems under large negative inclination angles. It enables efficient, stable, and convenient conveying of drill pipes in coal mines, meets the growing technological demands of coal mining, and promotes the process of automated coal mining.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a drill rod conveying device with a central longitudinal opening, comprising a drill rod box and a transfer mechanism. The drill rod in the drill rod box is arranged perpendicularly to the frame. The transfer mechanism includes a first moving unit, which is located on the side of the drill rod box near the frame and can slide along the axis perpendicular to the drill rod inside the drill rod box. A lifting unit is installed on the first moving unit, and a second moving unit is installed on the top of the lifting unit. The lifting unit can drive the second moving unit to rise and fall, and the second moving unit can move along the axis of the drill rod inside the drill rod box. A telescopic gripping unit for gripping the drill rod is installed on the second moving unit.

[0007] The beneficial effects of this solution are as follows: The process for removing and transporting drill rods from the drill rod box is as follows:

[0008] (1) Initial setting: A certain number of drill rods are stored in the drill rod box. At this time, the telescopic gripping unit is located above the drill rod box and is in the initial ready-to-work state.

[0009] (2) Positioning and column selection: The telescopic gripping unit is driven by the first moving unit to move along the axis perpendicular to the drill rod in the drill rod box, thereby determining the specific column of drill rod in the drill rod box and preparing for the subsequent gripping operation.

[0010] (3) Lateral centering: After the column selection is completed, the telescopic grabbing unit is driven by the second moving unit to move along the axis of the drill rod in the drill rod box until the telescopic grabbing unit reaches the middle position of the drill rod in the drill rod box, ensuring that the grabbing action can be performed in a suitable lateral position.

[0011] (4) Height adjustment: The lifting unit is then started, and in conjunction with the adjustment function of the telescopic gripping unit, the two work together to gradually adjust the height of the telescopic gripping unit until it accurately reaches the height value suitable for gripping the drill rod, thus creating favorable height conditions for successfully gripping the drill rod.

[0012] (5) Grabbing the drill rod: After the height is adjusted to the correct position, control the telescopic grabbing unit to perform the clamping action and firmly grab the drill rod. After that, the height of the telescopic grabbing unit is raised again by the joint adjustment of the lifting unit and the telescopic grabbing unit, so that it rises to the position above the drill rod box.

[0013] (6) Drill rod delivery: Through the joint cooperation of the No. 1 moving unit, the No. 2 moving unit, the lifting unit and the telescopic gripping unit, the drill rod is delivered to the location of the drilling mechanism. Then, the angle of the drill rod is changed by the flipping manipulator to keep it parallel to the frame, which provides convenient conditions for subsequent drill rod connection operations.

[0014] Compared with existing technologies, this technical solution has the following advantages:

[0015] This technical solution, by vertically aligning the drill rod inside the drill rod box with the frame and equipping it with a specially designed transfer mechanism, allows for flexible coordination between the various units of the transfer mechanism under complex conditions with large negative inclination angles. This enables precise completion of a series of operations, including gripping, moving, and conveying the drill rod, avoiding situations where drill rod cannot be conveyed due to interference. It effectively ensures stable and automatic conveying of drill rods under various complex conditions, especially those with large negative inclination angles, greatly expanding its applicability and meeting the diverse operational environment requirements of underground coal mines.

[0016] The transfer mechanism of this technical solution integrates multiple functions such as positioning, gripping, lifting, and moving. Through the coordinated operation of the first moving unit, the lifting unit, the second moving unit, and the telescopic gripping unit, it can independently and smoothly complete the entire process of selecting and gripping drill rods from the drill rod box and transporting them to the drilling mechanism. No additional auxiliary devices are required, which effectively simplifies the system structure, reduces equipment costs, improves space utilization, and effectively ensures the high efficiency and convenience required for the rapid and accurate transport of drill rods in underground coal mine operations.

[0017] This technical solution, through the ingenious combination of the lifting unit and the telescopic gripping unit, allows for smooth and flexible switching between high and low positions. In complex working conditions such as narrow-section roadways, this design effectively reduces the stringent requirements for the height of the work site, greatly expanding the application range of the device in special working environments. For example, in some roadways with limited height, traditional conveying devices cannot be used due to the large space required for switching between high and low positions, but this device, with its design, can successfully complete the drill pipe conveying task, ensuring the continuity and efficiency of drilling operations.

[0018] Thanks to the inclusion of the second moving unit, this technical solution can precisely drive the telescopic gripping unit to move axially along the drill rod within the drill rod box. Regardless of the drill rod's size, it ensures the telescopic gripping unit is stably clamped at the center or center of gravity of the drill rod. This effectively maintains the drill rod's balance during transport, preventing swaying and misalignment caused by uneven force, significantly improving the stability and reliability of drill rod transport. This provides precise drill rod positioning conditions for subsequent drilling operations, thereby enhancing construction quality.

[0019] In this technical solution, the unique design of the No. 1 moving unit allows the telescopic gripping unit to move flexibly along the axis perpendicular to the drill rods inside the drill rod box. This greatly facilitates the rapid gripping of different rows of drill rods within the drill rod box. Operators can quickly locate the target drill rod row simply by controlling the No. 1 moving unit, significantly improving the efficiency of drill rod selection and gripping, reducing the preparation time for drill rod delivery, and further enhancing the overall efficiency of the drilling operation.

[0020] Preferably, the drill pipe box has an opening on the side near the frame, through which both the telescopic gripping unit and the drill pipe can pass. This opening in the drill pipe box plays a crucial role in this technical solution. During drill pipe transport, the drill pipe can descend and move orderly within the opening. This innovative design not only effectively reduces the overall length of the drilling rig but also lowers its operational height requirements. Compared to traditional drill pipe transport devices, this device is more flexible and adaptable within the limited downhole working space, reducing the occupation of downhole space resources and facilitating the rational layout of downhole equipment and the smooth operation of the overall workflow.

[0021] Preferably, the drill pipe box has no opening on the side near the frame.

[0022] Preferably, the first moving unit includes a first gear guide and a first power component. A slide block is slidably disposed on the first gear guide, and the first power component is used to drive the slide block to slide on the first gear guide. The lifting unit is mounted on the slide block.

[0023] Preferably, the first gear guide includes a first rack and a first slide rail. Both the first rack and the first slide rail are installed on the side of the drill pipe box near the frame. The rack teeth of the first rack are set facing the side of the first slide rail. There is a gap between the first rack and the first slide rail. The toothless surfaces of the first slide rail and the first rack together form a guide rail for the installation and movement of the slide block.

[0024] Preferably, the first power component is mounted on the slide, and the output shaft of the first power component passes through the slide and is located between the first rack and the first slide rail. The output shaft of the power component is equipped with a first gear, which meshes with the first rack to form a gear and rack kinematic pair, driving the slide to slide on the first rack guide.

[0025] Preferably, the lifting unit includes a lifting outer cylinder, a lifting inner cylinder, and a first driving component. The lifting outer cylinder is mounted on a slide block, the lifting inner cylinder is slidably disposed inside the lifting outer cylinder, and a second moving unit is mounted on the top of the lifting inner cylinder. The first driving component can drive the second moving unit to lift.

[0026] Preferably, the first drive unit is installed at the end of the lifting outer cylinder away from the second moving unit, and the output shaft of the first drive unit extends into the interior of the lifting outer cylinder and is fixedly connected to the lifting inner cylinder.

[0027] Preferably, the first drive unit is installed at the end of the lifting outer cylinder away from the second moving unit, and the output shaft of the first drive unit extends into the interior of the lifting outer cylinder and is fixedly connected to the second moving unit.

[0028] Preferably, the inner side of the lifting outer cylinder is detachably connected to two sets of symmetrically arranged inner slide rails, and the outer side of the lifting inner cylinder is detachably connected to two sets of symmetrically arranged sliders, with the two sliders slidingly mounted on the inner slide rails respectively. Due to the arrangement of the sliders and inner slide rails, this technical solution facilitates the guidance of the lifting inner cylinder during its lifting process, preventing deviation and shortening its service life, while also improving the stability of the telescopic gripping unit.

[0029] Preferably, the second moving unit includes a crossbeam and a second power component. The crossbeam is provided with a second toothed guide section, and a moving seat is slidably arranged on the second toothed guide section. The second power component is used to drive the moving seat to move on the second toothed guide section, and the telescopic gripping unit is installed on the moving seat.

[0030] Preferably, the second rack guide includes a second rack and a second slide rail. Both the second rack and the second slide rail are mounted on the crossbeam. The rack teeth of the second rack are arranged facing the side of the second slide rail. There is a gap between the second rack and the second slide rail. The toothless surfaces of the second slide rail and the second rack together form a guide rail for mounting and guiding the movable seat.

[0031] Preferably, the second power component is mounted on the movable seat, and the output shaft of the second power component passes through the movable seat and is located between the second rack and the second slide rail. The second gear is mounted on the output shaft of the second power component, and the second gear meshes with the second rack to form a gear and rack kinematic pair, driving the movable seat to slide on the guide part of the second rack.

[0032] Preferably, the telescopic gripping unit includes a clamping claw, a telescopic joint, a second drive component, and a clamping drive component. The telescopic joint is mounted on a movable base and its length is extendable. The clamping claw is mounted at the end of the telescopic joint. The clamping drive component is used to drive the clamping claw to clamp or release the drill rod, and the second drive component is used to drive the clamping claw to rise and fall. Due to the telescopic joint, this technical solution effectively reduces the stringent requirements on the height of the work site, greatly expanding the application range of the device in special working environments.

[0033] Preferably, the telescopic joint includes a telescopic inner cylinder and a telescopic outer cylinder. The telescopic inner cylinder is slidably disposed inside the telescopic outer cylinder, the telescopic outer cylinder is mounted on a movable seat, and the clamping claw is mounted on the bottom of the telescopic inner cylinder.

[0034] Preferably, the inner side of the telescopic outer cylinder is detachably connected to two sets of symmetrically arranged No. 2 inner slide rails, and the outer side of the telescopic inner cylinder is detachably connected to two sets of symmetrically arranged No. 2 sliders, with the two No. 2 sliders respectively sliding on the No. 2 inner slide rails.

[0035] Preferably, the second drive unit is installed at the end of the telescopic outer cylinder away from the clamping claw, and the output shaft of the second drive unit extends into the interior of the telescopic outer cylinder and is fixedly connected to the telescopic inner cylinder.

[0036] Preferably, the second drive unit is installed at the end of the telescopic outer cylinder away from the clamping claw, and the output shaft of the second drive unit extends into the interior of the telescopic outer cylinder and is fixedly connected to the clamping claw.

[0037] Preferably, the drill pipe box includes a base plate, a second vertical plate is fixedly connected to the side of the base plate near the frame, and an opening is set on the second vertical plate. A first vertical plate is fixedly connected to the base plate on the opposite side of the second vertical plate, and side plates are fixedly connected to the two sides of the base plate adjacent to the second vertical plate.

[0038] Preferably, inside the drill pipe box, both the first and second vertical plates are connected with several partitions at intervals matching the drill pipe size, and a row of drill pipes is placed between adjacent partitions. Attached Figure Description

[0039] Figure 1 This is a three-dimensional view of the drill pipe conveying device with a central longitudinal opening according to the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of the lifting outer cylinder of this utility model;

[0041] Figure 3 This is a top view of the lifting outer cylinder of this utility model. Detailed Implementation

[0042] The following detailed description illustrates the specific implementation method:

[0043] The reference numerals in the accompanying drawings include: base plate 1, side plate 2, first vertical plate 3, second vertical plate 4, partition 5, first power component 6, slide block 7, first rack 8, first slide rail 9, lifting outer cylinder 10, lifting inner cylinder 11, first drive component 12, connecting block 13, first inner slide rail 14, crossbeam 15, connecting strip 16, second power component 17, moving seat 18, second rack 19, second slide rail 20, clamping claw 21, telescopic joint 22, second drive component 23, clamping drive component 24, opening 25.

[0044] Example 1

[0045] like Figure 1 The drill pipe conveying device shown has a central longitudinal opening and includes a drill pipe box and a transfer mechanism.

[0046] like Figure 1As shown, the drill pipe box includes a base plate 1. Side plates 2 are welded to the front and rear sides of the base plate 1. A first vertical plate 3 is welded to the left side of the base plate 1, and a second vertical plate 4 is welded to the right side of the base plate 1, with the second vertical plate 4 located on the side closest to the frame. The drill pipe box has an open-top box structure, with the base plate 1 as the bottom, the two side plates 2 located on the front and rear sides respectively, and the first vertical plate 3 and the second vertical plate 4 located on the left and right sides respectively, forming an internal space for storing drill pipes. Inside the drill pipe box, several partitions 5 are welded to the first vertical plate 3 and the second vertical plate 4 at intervals matching the drill pipe size, with a row of drill pipes placed between adjacent partitions 5.

[0047] like Figure 1 As shown, the transfer mechanism includes a first moving unit, a lifting unit, a second moving unit, and a telescopic gripping unit.

[0048] like Figure 1 As shown, the first moving unit is located on the right side of the second vertical plate 4 and can slide along the axis perpendicular to the drill rod inside the drill rod box. The first moving unit includes a first gear guide and a first power component 6. A slide block 7 is slidably mounted on the first gear guide, and the first power component 6 is used to drive the slide block 7 to slide on the first gear guide. Specifically, the first gear guide includes a first rack 8 and a first slide rail 9. The first rack 8 is bolted to the right side of the second vertical plate 4 with the rack teeth facing downwards. The first slide rail 9 is bolted to the second vertical plate 4 below the first rack 8, and there is a gap between the first rack 8 and the first slide rail 9. The first slide rail 9 and the upper side of the first rack 8 together form a guide rail for the installation and movement of the slide block 7. The slide block 7 can slide on the guide rail to select different rows of drill rods for gripping. The first power component 6 is installed on the right side of the slide block 7. Its output shaft passes through the slide block 7 and is located between the first rack 8 and the first slide rail 9. The first gear is installed on the output shaft of the power component. The first gear meshes with the first rack 8 to form a gear and rack kinematic pair, which drives the slide block 7 to slide on the first rack guide.

[0049] like Figure 1-3As shown, the lifting unit includes an outer lifting cylinder 10, an inner lifting cylinder 11, and a first driving component 12. Two connecting blocks 13 with snap-fit ​​grooves are bolted to the outer side of the outer lifting cylinder 10. The connecting blocks 13 are snapped onto the slide block 7 via the snap-fit ​​grooves, thus connecting the outer lifting cylinder 10 to the slide block 7. Two sets of symmetrically arranged inner slide rails 14 are bolted to the inner side of the outer lifting cylinder 10. Two sets of symmetrically arranged sliders are bolted to the outer side of the inner lifting cylinder 11, and the two sliders slide on the inner slide rails 14 respectively, allowing the inner lifting cylinder 11 to slide inside the outer lifting cylinder 10 and providing motion guidance to prevent rotation. The first driving component 12 is bolted to the bottom of the outer lifting cylinder 10. The output shaft of the first driving component 12 extends into the interior of the outer lifting cylinder 10 and is bolted to the bottom of the inner lifting cylinder 11 or a second moving unit, thereby driving the second moving unit to lift.

[0050] like Figure 1 As shown, the second moving unit is located at the top of the lifting inner cylinder 11 and can move along the axial direction of the drill rod. Specifically, the second moving unit includes a crossbeam 15, a connecting bar 16, and a second power component 17. The connecting bar 16 is L-shaped, with its upper end bolted to the crossbeam 15 and its lower end bolted to the lifting inner cylinder 11, thus connecting the lifting inner cylinder 11 and the crossbeam 15. The crossbeam 15 can be driven to rise and fall by the first driving component 12. The front side of the crossbeam 15 is provided with a second toothed guide section, on which a moving seat 18 is slidably mounted. The second gear guide section includes a second rack 19 and a second slide rail 20. The second rack 19 is bolted to the front side of the crossbeam 15 with the rack teeth facing downwards. The second slide rail 20 is bolted to the crossbeam 15 below the second rack 19, and there is a gap between the second rack 19 and the second slide rail 20. The upper side of the second slide rail 20 and the second rack 19 together form a guide rail for the installation and movement guidance of the movable seat 18. The second power component 17 is bolted to the front side of the movable seat 18. The output shaft of the second power component 17 passes through the movable seat 18 and is located between the second rack 19 and the second slide rail 20. A second gear is installed on the output shaft of the second power component 17. The second gear meshes with the second rack 19 to form a gear and rack kinematic pair, driving the movable seat 18 to slide on the second gear guide section. Both the first power component 6 and the second power component 17 can be hydraulic motors or servo motors. In this embodiment, both the first power component 6 and the second power component 17 are hydraulic motors.

[0051] like Figure 1As shown, the telescopic gripping unit is located on the right side of the second moving unit. The second moving unit can drive it to move along the axial direction of the drill rod, facilitating the gripping of the drill rod to approach or move away from the frame. The lifting unit can drive the telescopic gripping unit to rise and fall. Specifically, the second moving unit includes a clamping jaw 21, a telescopic joint 22, a second driving component 23, and a clamping driving component 24. Specifically, the telescopic joint 22 includes a telescopic inner cylinder and a telescopic outer cylinder. The telescopic outer cylinder is bolted to the right side of the moving base 18, realizing the connection between the telescopic gripping unit and the second moving unit. Two sets of symmetrically arranged inner slide rails (No. 2) are bolted to the inner side of the telescopic outer cylinder, and two sets of symmetrically arranged sliders (No. 2) are bolted to the outer side of the telescopic inner cylinder. The two sliders slide on the inner slide rails, allowing the telescopic inner cylinder to slide inside the telescopic outer cylinder. A second drive unit 23 is bolted to the top of the telescopic outer cylinder. The output shaft of the second drive unit 23 extends into the telescopic outer cylinder and is bolted to the top of the telescopic inner cylinder or the top of the clamping claw 21. Alternatively, the output shaft of the second drive unit 23 can extend into both the telescopic outer and inner cylinders and be bolted to the top of the clamping claw 21, driving the clamping claw 21 to move up and down. Driven by the clamping drive unit 24, the clamping claw 21 can clamp and release, completing the clamping or releasing of the drill rod. It should be noted that the clamping jaw 21 can be a clamping mechanism of various forms, and the clamping drive 24 can be a linear or rotating element. In this embodiment, the clamping drive 24, the first drive 12 and the second drive 23 are all linear hydraulic cylinders.

[0052] like Figure 1 As shown, an opening 25 is made at the center of the second vertical plate 4. The size of the opening 25 is larger than the size of the drill rod and the telescopic gripping unit, so that the drill rod and the telescopic gripping unit can move within the opening 25.

[0053] The drill pipe conveying process is as follows:

[0054] (1) Initial setting: Several drill rods are stored in the drill rod box. At this time, the clamping claw 21 is located at the top of the drill rod box.

[0055] (2) Positioning column selection: The first power component 6 is started, driving the slide 7 to move along the first toothed guide section, thereby driving the clamping claw 21 to move synchronously, thus determining the drill rod of a specific column in the drill rod box.

[0056] (3) Lateral centering: Next, the second power unit 17 starts to operate, driving the moving seat 18 to move along the second gear guide, driving the clamping claw 21 to move synchronously until the clamping claw 21 reaches the top of the middle position of the drill rod in the drill rod box.

[0057] (4) Height adjustment: Subsequently, the clamping drive 24 controls the clamping claw 21 to release, and the height of the clamping claw 21 is adjusted by the coordinated action of the first drive 12 and the second drive 23 until it reaches a suitable height value for gripping the drill rod.

[0058] (5) Grabbing the drill rod: Then, the clamping drive 24 drives the clamping claw 21 to clamp the drill rod again. Then, the height of the clamping claw 21 is adjusted by the first drive 12 and the second drive 23 together, so that it rises to the position above the drill rod box.

[0059] (6) Move to opening 25: The first power component 6 drives the slide 7 to move along the first gear guide, causing the clamping claw 21 to move synchronously, so that the clamping claw 21 is above the opening 25 of the second vertical plate 4.

[0060] (7) Height adaptation: The height of the clamping claw 21 is adjusted by the combined action of the first drive component 12 and the second drive component 23, so that the clamping claw 21 and the drill rod it holds are lowered to the height that meets the requirements of drill rod delivery.

[0061] (8) Delivery to Position: Finally, the second power unit 17 drives the moving seat 18 to move along the second gear guide section away from the drill pipe box, driving the clamping claw 21 to move synchronously, delivering the drill pipe to the position of the drilling mechanism, and the drill pipe delivery is completed. Then, the angle of the drill pipe is changed by the flipping manipulator to keep it parallel to the frame, so as to facilitate the subsequent drill pipe connection operation.

[0062] The above process describes the removal of drill pipe from the drill pipe box, while the process of putting the drill pipe back into the drill pipe box is the reverse, and will not be described in detail here.

[0063] Example 2

[0064] Unlike Embodiment 1, no opening 25 is provided at the center of the second vertical plate 4.

[0065] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A drill pipe conveying device with a central longitudinal opening, characterized in that: The system includes a drill pipe box and a transfer mechanism. The drill pipe in the drill pipe box is vertically arranged with respect to the frame. The transfer mechanism includes a first moving unit, which is located on the side of the drill pipe box near the frame and can slide along the axis perpendicular to the drill pipe inside the drill pipe box. A lifting unit is installed on the first moving unit, and a second moving unit is installed on top of the lifting unit. The lifting unit can drive the second moving unit to move up and down, and the second moving unit can move along the axis of the drill pipe inside the drill pipe box. A telescopic gripping unit for gripping the drill pipe is installed on the second moving unit.

2. The drill pipe conveying device with a central longitudinal opening according to claim 1, characterized in that: The drill rod box has an opening on the side near the frame, through which the telescopic gripping unit and the drill rod can pass.

3. The drill pipe conveying device with a central longitudinal opening according to claim 1, characterized in that: The drill pipe box has no opening on the side closest to the frame.

4. The drill pipe conveying device with a central longitudinal opening according to any one of claims 2 or 3, characterized in that: The first moving unit includes a first gear guide section and a first power component. A slide block is slidably mounted on the first gear guide section. The first power component is used to drive the slide block to slide on the first gear guide section. The lifting unit is mounted on the slide block.

5. The drill pipe conveying device with a central longitudinal opening according to claim 4, characterized in that: The No. 1 rack guide section includes a No. 1 rack and a No. 1 slide rail. Both the No. 1 rack and the No. 1 slide rail are installed on the side of the drill pipe box near the frame. The rack teeth of the No. 1 rack are set facing the side of the No. 1 slide rail. There is a gap between the No. 1 rack and the No. 1 slide rail. The toothless surfaces of the No. 1 slide rail and the No. 1 rack together form a guide rail for the installation and movement of the slide block.

6. The drill pipe conveying device with a central longitudinal opening according to claim 5, characterized in that: The first power component is mounted on the slide. The output shaft of the first power component passes through the slide and is located between the first rack and the first slide rail. The first gear is mounted on the output shaft of the power component. The first gear meshes with the first rack to form a gear and rack kinematic pair, which drives the slide to slide on the first rack guide.

7. The drill pipe conveying device with a central longitudinal opening according to claim 6, characterized in that: The lifting unit includes an outer lifting cylinder, an inner lifting cylinder, and a first driving component. The outer lifting cylinder is mounted on a slide block, and the inner lifting cylinder is slidably disposed inside the outer lifting cylinder. A second moving unit is mounted on the top of the inner lifting cylinder, and the first driving component can drive the second moving unit to lift.

8. The drill pipe conveying device with a central longitudinal opening according to claim 7, characterized in that: The No. 1 drive unit is installed at the end of the lifting outer cylinder away from the No. 2 moving unit. The output shaft of the No. 1 drive unit extends into the interior of the lifting outer cylinder and is fixedly connected to the lifting inner cylinder.

9. The drill pipe conveying device with a central longitudinal opening according to claim 8, characterized in that: The first drive unit is installed at the end of the lifting outer cylinder away from the second moving unit. The output shaft of the first drive unit extends into the interior of the lifting outer cylinder and is fixedly connected to the second moving unit.

10. The drill pipe conveying device with a central longitudinal opening according to any one of claims 8 or 9, characterized in that: The inner side of the lifting outer cylinder is detachably connected to two sets of symmetrically arranged No. 1 inner slide rails, and the outer side of the lifting inner cylinder is detachably connected to two sets of symmetrically arranged No. 1 sliders, with the two No. 1 sliders slidingly mounted on the No. 1 inner slide rails respectively.

11. The drill pipe conveying device with a central longitudinal opening according to claim 10, characterized in that: The second moving unit includes a crossbeam and a second power component. The crossbeam is equipped with a second toothed guide section, and a moving seat is slidably mounted on the second toothed guide section. The second power component is used to drive the moving seat to move on the second toothed guide section. The telescopic gripping unit is mounted on the moving seat.

12. The drill pipe conveying device with a central longitudinal opening according to claim 11, characterized in that: The No. 2 rack guide section includes a No. 2 rack and a No. 2 slide rail. Both the No. 2 rack and the No. 2 slide rail are mounted on the crossbeam. The rack teeth of the No. 2 rack are set to face the side of the No. 2 slide rail. There is a gap between the No. 2 rack and the No. 2 slide rail and the toothless surface of the No. 2 rack together form a guide rail for the installation and movement guidance of the movable seat.

13. The drill pipe conveying device with a central longitudinal opening according to claim 12, characterized in that: The second power unit is mounted on the movable seat. The output shaft of the second power unit passes through the movable seat and is located between the second rack and the second slide rail. The second gear is mounted on the output shaft of the second power unit. The second gear meshes with the second rack to form a gear and rack kinematic pair, which drives the movable seat to slide on the guide section of the second rack.

14. The drill pipe conveying device with a central longitudinal opening according to claim 13, characterized in that: The telescopic gripping unit includes a clamping jaw, a telescopic joint, a second drive unit, and a clamping drive unit. The telescopic joint is mounted on a movable base and its length can be extended or retracted. The clamping jaw is mounted at the end of the telescopic joint. The clamping drive unit is used to drive the clamping jaw to clamp or release the drill rod. The second drive unit is used to drive the clamping jaw to rise and fall.

15. The drill pipe conveying device with a central longitudinal opening according to claim 14, characterized in that: The telescopic joint includes a telescopic inner cylinder and a telescopic outer cylinder. The telescopic inner cylinder is slidably disposed inside the telescopic outer cylinder, and the telescopic outer cylinder is mounted on a movable seat. The clamping claw is mounted on the bottom of the telescopic inner cylinder.

16. The drill pipe conveying device with a central longitudinal opening according to claim 15, characterized in that: The inner side of the telescopic outer cylinder is detachably connected to two sets of symmetrically arranged No. 2 inner slide rails, and the outer side of the telescopic inner cylinder is detachably connected to two sets of symmetrically arranged No. 2 sliders, with the two No. 2 sliders slidingly mounted on the No. 2 inner slide rails respectively.

17. The drill pipe conveying device with a central longitudinal opening according to claim 16, characterized in that: The second drive unit is installed at the end of the telescopic outer cylinder away from the clamping claw. The output shaft of the second drive unit extends into the interior of the telescopic outer cylinder and is fixedly connected to the telescopic inner cylinder.

18. The drill pipe conveying device with a central longitudinal opening according to claim 16, characterized in that: The second drive unit is installed at the end of the telescopic outer cylinder away from the clamping claw. The output shaft of the second drive unit extends into the interior of the telescopic outer cylinder and is fixedly connected to the clamping claw.

19. The drill pipe conveying device with a central longitudinal opening according to any one of claims 17 or 18, characterized in that: The drill pipe box includes a base plate, a second vertical plate is fixedly connected to the side of the base plate near the frame, and the opening is set on the second vertical plate. A first vertical plate is fixedly connected to the base plate on the opposite side of the second vertical plate. Side plates are fixedly connected to the two sides of the base plate adjacent to the second vertical plate.

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