Automatic drill pipe dismounting device

Abstract

The present application relates to the field of coal mine drilling, and discloses an automatic drilling rod dismounting device, which comprises a rack and a drilling rod box for storing drilling rods, the drilling rod box comprises a bottom plate and vertical plates arranged at both ends of the bottom plate, a transfer manipulator for transferring drilling rods is arranged on the outer side of the vertical plate close to the rack, the transfer manipulator comprises a first sliding part, a lifting part and a clamping unit capable of sliding relative to the lifting part, the lifting part is installed on the first sliding part and can slide transversely relative to the vertical plate, and a turnover manipulator for turning over the drilling rod to make it coaxial with the driving drilling rod is further arranged on the rack. The automatic drilling rod dismounting device has a relatively simple conveying path and can quickly mount and dismount the drilling rods.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of coal mine drilling, in particular to a drill rod automatic dismounting device. BACKGROUND

[0002] When carrying out coal mining and other mineral resources development, automatic drilling machine is often used, and the automatic drilling machine box is used for sequentially driving multiple drill rods into the stratum, so that an equipment for providing drill rods to the drilling machine is usually arranged beside the drilling machine. The existing equipment can automatically convey the drill rods and butt joint to the drilling machine. The equipment has a complex structure, and multiple mechanical hands or components need to be cooperatively completed in the process, which usually includes a drill rod grabbing stage. After the drill rod is transferred to the butt joint and then butt jointed by the mechanical hand, the drill rod and the driving drill rod are coaxial. After the driving drill rod is rotated, the drill rod is threadedly connected with the driving drill rod to advance the drill rod. The process is completed in multiple steps and sequences, and the working time is long. Moreover, the working face space in the mine is relatively narrow, and more connecting pieces are used, and personnel need to operate on site. The equipment failure rate is high in the operation process, and the operation space requirement is high, which is not conducive to the development of on-site construction. For example, in the patent document with the patent number CN110952972B, a transfer mechanical hand arranged along the arrangement direction of the drill rod box column is used to grab the drill rod, and then the drill rod is placed in the transfer device for subsequent grabbing by the conveying device. Generally, the drill rod placement direction of the drill rod box needs to be parallel to the rack to simplify the conveying process. However, this method leads to a complex conveying system, increases the length and height of the drilling machine, and the like. Therefore, this scheme must be matched with a transfer device parallel to the drill rod axial direction, and at least three conveying devices are needed to complete the drill rod conveying. Secondly, the increase of the transfer device inevitably increases the length of the drilling machine. Then, the transfer mechanical hand needs to switch the drill rod between the high and low positions when conveying the drill rod to the transfer device, which requires a large working height space, and it is difficult to adapt to the small cross-section roadway working condition. For example, in the patent document with the patent number CN219299240U, the drill rod box direction is transposed, and the drill rod is conveyed in a direction perpendicular to the rack, which eliminates the transfer device. However, the conveying mechanism function is too single, which leads to the fact that the drill rod cannot be conveyed into the rack, and a relatively complex adding and removing mechanism needs to be added to complete the final conveying of the drill rod. In addition, the single function of the transfer mechanism also leads to the fact that the drill rod cannot be taken out from the drill rod box directly, and an additional auxiliary device is needed. Therefore, a drill rod automatic dismounting device with a simple conveying path and fast drill rod mounting and dismounting needs to be provided. SUMMARY

[0003] The utility model intends to provide a drill rod automatic dismounting device to provide a drill rod automatic dismounting device with a simple conveying path and fast drill rod mounting and dismounting.

[0004] To achieve the above object, the utility model discloses the following technical scheme: a drill rod automatic dismounting device, including frame and the drill rod box for storing drill rod, and the drill rod box includes the bottom plate and sets up the vertical board at the both ends of bottom plate, and the vertical board outside close to frame is provided with the transfer manipulator of transfer drill rod, and the transfer manipulator includes the first sliding part, the lifting part and the clamping unit that can slide relative to the lifting part, and the lifting part is installed on the first sliding part and can slide relative to the vertical board transversely, and the frame still is equipped with the turnover manipulator of overturning drill rod and making it with the coaxial line of initiative drill rod.

[0005] Preferably, as an improvement, the vertical plate on one side of the frame is provided with a longitudinal opening, and the frame is provided with a through hole opposite the longitudinal opening for the drill rod to pass through.

[0006] Preferably, as an improvement, the first sliding part includes a first sliding rail and a first sliding seat slidingly arranged on the first sliding rail, and the lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidingly arranged in the lifting outer cylinder, the lifting cylinder is installed at the bottom of the lifting inner cylinder, and the output end of the lifting cylinder is fixedly connected with the lifting inner cylinder.

[0007] The beneficial effect is that: through the above setting, the lifting part is installed on the first sliding seat, the first sliding seat can drive the lifting part to slide transversely along the vertical plate to realize the transverse displacement of the clamping unit, so that the clamping unit can move in the horizontal direction on the vertical plate, and the horizontal position of the clamping unit relative to the drill rod box can be adjusted, the lifting inner cylinder slides relative to the lifting outer cylinder to realize the height adjustment of the clamping unit, so that the drill rod loading and unloading operation at different height positions can be adapted, and the clamping difficulty caused by the height difference can be avoided.

[0008] Preferably, as an improvement, the second sliding part further includes a cross beam, a second sliding rail and a second sliding seat slidingly arranged on the second sliding rail, the cross beam is fixedly arranged at the top end of the lifting inner cylinder, the second sliding rail is fixed on the side surface of the cross beam, and the clamping unit is fixed on the second sliding seat.

[0009] The beneficial effect is that: by fixing the clamping unit on the second sliding seat and sliding along the cross beam through the second sliding part, the longitudinal movement of the clamping unit between the drill rod box and the frame can be realized, so that the clamping unit can not only be adjusted vertically (through the lifting cylinder of the lifting part), but also can approach or move away from the frame in the horizontal direction, so that the accurate position adjustment of the drill rod can be realized.

[0010] Preferably, as an improvement, the clamping unit includes a telescopic oil cylinder, a telescopic joint and a paw, the telescopic joint includes an inner sleeve and an outer sleeve, the outer sleeve is fixed on the second sliding seat, the telescopic oil cylinder is installed at the top of the outer sleeve, the output end of the telescopic oil cylinder is fixedly connected with the inner cylinder, further includes a clamping driving element, and the paw is installed on the inner sleeve through the clamping driving element.

[0011] The beneficial effect is that the clamping drive controls the opening and closing of the gripper, so that the clamping unit can accurately clamp and release the drill pipe; the combination of the telescopic property of the clamping unit and the clamping drive makes the clamping action of the drill pipe more accurate, can accurately clamp the drill pipe of different heights, makes the loading and unloading process more smooth, shortens the operation time, and improves the operation efficiency.

[0012] Preferably, as an improvement, the overturning manipulator comprises a clamping jaw part, a fixed seat and an overturning cylinder, the fixed seat is fixed on the frame, the clamping jaw part comprises clamping jaws, a swing cylinder and a clamping cylinder, the clamping jaws are hinged on one side of the swing cylinder, the clamping cylinder is arranged in the swing cylinder, one end of each clamping jaw is connected with the output end of the clamping cylinder to realize clamping, the other side of the swing cylinder is hinged with one end of the fixed seat, and the two ends of the overturning cylinder are respectively hinged with the swing cylinder and the other end of the fixed seat, and the overturning cylinder realizes swinging of the swing cylinder around the hinge point through extension and contraction.

[0013] The beneficial effect is that the overturning cylinder drives the clamping jaw to make overturning movement, when the drill pipe is vertically inserted with the frame, first the clamping jaw drives the clamping cylinder to clamp one end of the drill pipe, the overturning cylinder shortens the stroke, the swing cylinder swings 90 degrees around the fixed seat, drives the drill pipe to overturn 90 degrees and basically coincides with the drilling axis of the frame to realize butt joint and installation, then the clamping cylinder is sent, then the overturning cylinder lengthens the stroke to reset, through the above setting, the route is optimized, the overturning function and the translation function are combined, and the extension joint is reduced. The overturning and moving functions are combined, which avoids the situation that multiple complex components need to work together in the traditional system. The traditional system may need a separate overturning device and multiple manipulators to complete the transfer, overturning and butt joint of the drill pipe, while the design directly drives the swing cylinder to overturn by using the overturning cylinder, simplifies the mechanical structure, reduces the extension joint and related connecting components, and makes the loading and unloading process of the drill pipe more smooth. The extension and contraction action of the overturning cylinder can accurately control the overturning angle of the clamping jaw, so that the drill pipe can be accurately overturned from the vertical position to the position parallel to the axis of the drilling machine, and the butt joint failure or misplacement of the drill pipe caused by inaccurate control is avoided.

[0014] Preferably, as an improvement, it further comprises a connecting block, the lifting outer cylinder is fixedly connected with the first sliding seat through the connecting block, the inner side of the lifting outer cylinder is detachably provided with an inner sliding rail, the outer side of the lifting inner cylinder is fixedly provided with a sliding block matched with the inner sliding rail, and the sliding block and the inner sliding rail are in sliding cooperation.

[0015] The beneficial effect is that through the sliding cooperation of the inner sliding rail and the sliding block, the lifting inner cylinder can keep stable guidance during lifting, and the deviation or swing of the lifting inner cylinder during lifting is reduced; the accuracy of the lifting action is improved, the accuracy of the clamping unit during vertical lifting is ensured, unnecessary displacement or misoperation is prevented, and the overall stability of the lifting part is improved.

[0016] Preferably, as an improvement, the inner slide rail is provided with connecting holes in an array, and the inner slide rail is detachably connected to the lifting outer cylinder by bolts.

[0017] The beneficial effects are that the inner slide rail is detachably connected to the lifting outer cylinder by bolts, so that when the inner slide rail is worn or damaged, maintenance personnel can conveniently disassemble and replace the slide rail; and the inner slide rail is connected to the lifting outer cylinder by bolts, ensuring firm fixation therebetween.

[0018] Preferably, as an improvement, the number of inner slide rails and sliding blocks is two, and the inner slide rails are symmetrically arranged on both sides of the lifting outer cylinder, and the sliding blocks are also symmetrically fixed to the outer side of the lifting inner cylinder.

[0019] The beneficial effects are that the symmetrical arrangement of the inner slide rails and sliding blocks can ensure that the force on the lifting system is more uniform, and the connecting force between the lifting inner cylinder and the lifting outer cylinder is balanced during lifting, effectively preventing the system from deviating or deforming due to partial load or unbalanced force; the symmetrical arrangement of the slide rails and sliding blocks avoids the possible deviation or deviation during lifting, ensures that the lifting components always move smoothly within the predetermined track, and on the other hand, it is beneficial to the balance of the clamping unit, prevents the lifting inner cylinder from deviating seriously, and shortens the service life of the manipulator, and is beneficial to the downward movement of the drill pipe in the opening of the drill pipe box. At the same time, the clamping unit in the technical solution can be extended and retracted to cooperate with the lifting part to perform two-stage lifting, which can reduce the length of the drilling machine and the height requirement during operation.

[0020] Preferably, as an improvement, the opposite surfaces of the first slide rail and the second slide rail are provided with racks, and the first rack and the second rack are respectively engaged with the racks on the first slide rail and the second slide rail, and the first slide seat is provided with a first motor for driving the first gear to rotate, and the second slide seat is provided with a second motor for driving the second gear to rotate.

[0021] The beneficial effects are that the engagement of the racks and the gears can ensure the accuracy of the movement of the slide seat on the slide rail, reduce the movement error caused by friction or gap, and the gear and rack structure can provide stronger carrying capacity and transmission efficiency, and is not easy to shift, which helps to improve the stability and reliability of the entire lifting system.

[0022] Preferably, as an improvement, the first slide seat and the second slide seat are integrally formed with clamping plates on the upper and lower sides, and the clamping plates are used to clamp the outer side of the first slide rail or the second slide seat for limiting.

[0023] Preferably, as an improvement, when the turnover oil cylinder extends to the limit length, the length direction of the swing cylinder is parallel to the rack, and when the turnover oil cylinder shortens to the limit length, the length direction of the swing cylinder is perpendicular to the rack.

[0024] The beneficial effects are to ensure the correct positioning of the drill pipe and avoid operation errors.

[0025] Preferably, as an improvement, side plates are further fixed on both sides of the base plate.

[0026] Preferably, as an improvement, a plurality of observation holes are further formed in the vertical plate.

[0027] The beneficial effects of the present scheme are:

[0028] In the present technical solution, a longitudinal opening is formed in the middle of the vertical plate for the clamp unit and the drill pipe to pass through, so that the drill pipe and the gripper can smoothly pass through the opening. A through hole is formed in the rack opposite to the longitudinal opening for the drill pipe to pass through. A turnover manipulator is arranged on one side of the through hole to adjust the angle of the drill pipe. The drill pipes are arranged in an array on both sides of the drill pipe box, and the middle part of the drill pipe box aligned with the longitudinal opening is left empty. Through the above arrangement, when the drill pipe is clamped, the clamp unit slides into the drill pipe box to lift and clamp the drill pipe. After the clamp unit clamps the drill pipe, it is aligned with the longitudinal opening in the middle of the vertical plate and starts to slide. One end of the drill pipe passes through the longitudinal opening until it passes through the through hole. Then, the drill pipe is turned over by the turnover manipulator and is parallel to the rack for the butt joint installation of the drill pipe. In the present technical solution, the longitudinal opening is formed in the vertical plate for the clamp unit and the drill pipe to pass through, which is matched with the through hole formed in the rack. Compared with other existing technologies, the drill pipe does not need to pass through the clamp unit, go around the drill pipe box, approach the rack from above, and be butt jointed. If the drill pipe is turned over, it needs a higher operating height and more complex matching butt joint equipment. On the other hand, the drill pipe is directly inserted into the through hole from the longitudinal opening and then turned over. This can ensure the consistency of the insertion position of the drill pipe each time and shorten the length of the drill pipe automatic dismounting and mounting device in the length direction. It does not need to reserve a space for the butt joint insertion of a drill pipe length due to the length of the drill pipe. Through the above arrangement, the mounting and dismounting system of the present scheme can be reduced in size in the length direction and the height direction, can enter a drilling space with a lower operating space and smaller operating space, and can adapt to more types of operating environments in complex working conditions such as small cross-section roadways.

[0029] Compared with the traditional drill pipe conveying device, the longitudinal opening is formed in the middle of the vertical plate, and the drill pipe and the clamp unit can directly pass through the opening. This makes the drill pipe smoothly and linearly pass through the system without complex multiple transfers or bypasses, avoids the process that the drill pipe needs to pass through multiple manipulators or transfer devices in the traditional technology, greatly simplifies the operation process, reduces the coordination of multiple steps and manipulators, and improves the mounting and dismounting efficiency. In addition, the drill pipe passes through the through hole directly through the longitudinal opening for turning over, which makes the whole process smoother and avoids the need for multiple adjustments and complex operations in the traditional device, ensuring the accuracy of the butt joint of the drill pipe and the rack. The device has more flexibility and adaptability in the limited operating space in the well, reduces the occupation of space resources in the well, is conducive to the reasonable layout of the equipment in the well and the smooth operation of the overall operation process, and the transfer device can be omitted, and the transfer system and the conveying route can be greatly simplified. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is installation structure schematic view of the embodiment of the utility model;

[0031] Figure 2 It is structure schematic view of the drill pipe box and transfer manipulator of the embodiment of the utility model;

[0032] Figure 3 It is sectional view of the lifting outer tube of the embodiment of the utility model;

[0033] Figure 4 It is plan view of the lifting outer tube of the embodiment of the utility model;

[0034] Figure 5 It is bottom view of the turnover manipulator of the embodiment of the utility model;

[0035] Figure 6 It is structure schematic view of the turnover manipulator of the embodiment of the utility model. DETAILED DESCRIPTION

[0036] The following is further detailed by specific implementation:

[0037] The reference signs in the drawings of the specification include: rack 1, bottom plate 2, vertical plate 3, partition plate 4, side plate 5, observation hole 6, longitudinal opening 7, turnover manipulator 8, first slide rail 9, first slide base 10, lifting outer tube 11, lifting inner tube 12, crossbeam 13, second slide rail 14, second slide base 15, telescopic oil cylinder 16, telescopic joint 17, paw 18, clamping jaw 19, fixed seat 20, turnover oil cylinder 21, swing cylinder 22, connecting block 23, inner slide rail 24, rack 25, first motor 26, second motor 27, clamping plate 28, drill pipe 29.

[0038] EMBODIMENT

[0039] The embodiment is basically as shown in Figures 1-6 , such as Figure 1 and Figure 2The shown drill pipe 29 dismounting system includes a rack 1 and a drill pipe box for storing the drill pipe 29, the drill pipe box includes a bottom plate 2 and vertical plates 3 arranged at both ends of the bottom plate 2, opposite surfaces of the vertical plates 3 are both arrayed with partitions 4 for separating the drill pipes 29, side plates 5 are further fixedly arranged at both sides of the bottom plate 2, a plurality of observation holes 6 are further formed in the vertical plates 3, for observing the number of the drill pipes 29 remaining between each partition 4; a transfer manipulator for transferring the drill pipes 29 is arranged at the outer side of the vertical plate 3 close to the rack 1, the transfer manipulator includes a first sliding part, a lifting part and a clamping unit capable of sliding relative to the lifting part, and a longitudinal opening 7 is formed in the middle of the vertical plate 3 for the clamping unit and the drill pipe 29 to pass through, the vertical plate 3 is provided with the longitudinal opening 7, the width of the longitudinal opening 3 is greater than the width of the clamping unit and the diameter of the drill pipe 29, the lifting part is installed on the first sliding part and can slide transversely relative to the vertical plate 3, a through hole is formed in the rack 1 and opposite to the longitudinal opening 7 for the drill pipe 29 to pass through, and a turnover manipulator 8 for turning over the drill pipe 29 is arranged at one side of the through hole.

[0040] In the technical solution, the longitudinal opening 7 is formed in the middle of the vertical plate 3 for the clamping unit and the drill pipe 29 to pass through, so that the drill pipe 29 and the gripper 18 can both smoothly pass through the opening, the through hole is formed in the rack 1 and opposite to the longitudinal opening 7 for the drill pipe 29 to pass through, and the turnover manipulator 8 for adjusting the angle of the drill pipe 29 is arranged at one side of the through hole, the drill pipes 29 are arranged in array at both sides of the drill pipe box, and the middle of the drill pipe box aligned with the longitudinal opening 7 is left empty, through the above arrangement, when the drill pipe 29 is clamped, the clamping unit slides to the drill pipe box to lift and clamp the drill pipe 29, after the clamping unit clamps the drill pipe 29, the longitudinal opening 7 in the middle of the vertical plate 3 is aligned and started to slide, one end of the drill pipe 29 passes through the longitudinal opening 7 until it passes through the through hole, and then the drill pipe 29 is turned over by the turnover manipulator 8 and is parallel to the rack 1 for butt joint installation of the drill pipe 29. In the technical solution, the longitudinal opening 7 is formed in the vertical plate 3 for the clamping unit and the drill pipe 29 to pass through, and the through hole is formed in the rack 1, compared with other existing technologies, the drill pipe 29 does not need to pass through the clamping unit, go around the drill pipe box once, approach the rack 1 from above and be butt jointed, if turned over, it is necessary to have a higher operation height and more complex butt joint equipment, on the other hand, the drill pipe 29 is directly inserted into the through hole from the longitudinal opening 7 and then turned over, which can ensure the same position of the drill pipe 29 inserted each time and shorten the size of the drill pipe 29 dismounting system in the length direction, without reserving a space for butt joint insertion of a drill pipe 29 length due to the length of the drill pipe 29, through the above arrangement, the size of the dismounting system in the length direction and the height direction is reduced, the dismounting system can be operated in a drilling space with a lower height and a smaller operation space, and can adapt to more types of operation environments in complex working conditions such as small cross-section roadways. The partitions 4 are arranged at both sides of the drill pipe box and are arrayed, which can effectively prevent the drill pipes 29 from being displaced during storage and transportation, and ensure the stable array placement of the drill pipes 29.

[0041] Compared with the conventional drill pipe 29 conveying device, by opening the longitudinal opening 7 in the middle of the vertical plate 3, the drill pipe 29 and the clamping unit can directly pass through the opening. This makes the drill pipe 29 pass through the system smoothly and linearly, and does not need complex multiple transfers or bypasses, avoiding the process that the drill pipe 29 needs to pass through multiple mechanical hands or transfer devices in the conventional technology, greatly simplifying the operation process, reducing the coordination of multiple steps and mechanical hands, and improving the loading and unloading efficiency. In addition, the drill pipe 29 passes through the longitudinal opening 7 directly to turn over through the perforation, so that the whole process becomes more smooth, avoiding the need for multiple adjustments and complex operations in the conventional device, ensuring the accuracy of the drill pipe 29 and the rack 1 docking. The device has more flexibility and adaptability in the limited working space of the well, reduces the occupation of the space resources of the well, is conducive to the reasonable layout of the downhole equipment and the smooth operation of the overall operation process, and the transfer device can be omitted, and the transfer system and the conveying route can be greatly simplified.

[0042] The first sliding part includes a first sliding rail 9 and a first sliding seat 10 slidingly arranged on the first sliding rail 9, and the lifting part includes a lifting outer cylinder 11, a lifting cylinder and a lifting inner cylinder 12 slidingly arranged in the lifting outer cylinder 11. The lifting cylinder is installed at the bottom of the lifting inner cylinder 12, and the output end of the lifting cylinder is fixedly connected with the lifting inner cylinder 12. The lifting part is installed on the first sliding seat 10, the first sliding seat 10 can drive the lifting part to slide along the vertical plate 3 transversely to realize the transverse displacement of the clamping unit, so that the clamping unit can move in the horizontal direction on the vertical plate 3 to adjust the horizontal position of the clamping unit relative to the drill pipe box. The lifting inner cylinder 12 slides relative to the lifting outer cylinder 11 to realize the height adjustment of the clamping unit, so as to adapt to the loading and unloading operation of the drill pipe 29 at different height positions and avoid the clamping difficulty caused by the height difference. The second sliding part includes a cross beam 13, a second sliding rail 14 and a second sliding seat 15 slidingly arranged on the second sliding rail 14. The cross beam 13 is fixedly arranged at the top end of the lifting inner cylinder 12, the second sliding rail 14 is fixed on the side surface of the cross beam 13, and the clamping unit is fixed on the second sliding seat 15. By fixing the clamping unit on the second sliding seat 15 and sliding along the cross beam 13 through the second sliding part, the longitudinal movement of the clamping unit between the drill pipe box and the rack 1 can be realized, so that the clamping unit can not only be adjusted vertically (through the lifting cylinder of the lifting part), but also be close to or away from the rack 1 in the horizontal direction, thereby realizing the accurate position adjustment of the drill pipe 29.

[0043] As Figure 3 and Figure 4As shown, the inner slide rail 24 is arranged with connecting holes, and the inner slide rail 24 is detachably connected with the lifting outer cylinder 11 through bolts. The inner slide rail 24 is detachably connected with the lifting outer cylinder 11 through bolts, so that when the inner slide rail 24 is worn or damaged, the maintenance personnel can conveniently disassemble and replace the slide rail; the inner slide rail 24 is connected with the lifting outer cylinder 11 through bolts, which ensures the firm fixation between the two. The number of the inner slide rail 24 and the slide block is two, and the inner slide rail 24 is symmetrically arranged on both sides of the lifting outer cylinder 11, and the slide block is also symmetrically fixed on the outer side of the lifting inner cylinder 12. By symmetrically arranging the inner slide rail 24 and the slide block, it can be ensured that the stress of the lifting system is more uniform, and the connecting force between the lifting inner cylinder 12 and the lifting outer cylinder 11 is balanced during the lifting process, which effectively prevents the deviation or deformation of the system caused by the eccentric load or unbalanced stress; the symmetric slide rail and slide block configuration avoids the possible deviation or deviation phenomenon during the lifting process, ensures that the lifting components always move smoothly in the predetermined track, on the other hand, it is beneficial to the balance of the clamping unit, prevents the lifting inner cylinder 12 from deviating seriously, which leads to the shortening of the service life of the manipulator, and is beneficial to the downward movement of the drill pipe 29 in the opening of the drill pipe box. At the same time, the clamping unit in the technical scheme can be telescopic to cooperate with the lifting part to realize two-stage lifting, which can reduce the length of the drilling machine and the height requirement during operation.

[0044] The clamping unit in the embodiment includes a telescopic oil cylinder 16, a telescopic joint 17 and a pawl 18. The telescopic joint 17 includes an inner sleeve and an outer sleeve, the outer sleeve is fixed on the second sliding seat 15, the telescopic oil cylinder 16 is installed on the top of the outer sleeve, the output end of the telescopic oil cylinder 16 is fixedly connected with the inner cylinder, and the pawl 18 is fixedly installed on the inner sleeve through a clamping driving part. The clamping driving part controls the opening and closing of the pawl 18, so that the clamping unit can accurately clamp and release the drill pipe 29; the combination of the telescopic property of the clamping unit and the clamping driving part makes the clamping action of the drill pipe 29 more accurate, can accurately clamp the drill pipe 29 of different heights, makes the loading and unloading process more smooth, shortens the operation time, and improves the operation efficiency.

[0045] As Figure 5 and Figure 6As shown, in this embodiment, the overturning manipulator 8 includes a clamping jaw part, a fixed seat 20 and an overturning oil cylinder 21. The fixed seat 20 is fixed on the rack 1. The clamping jaw part includes a clamping jaw 19, a swing cylinder 22 and a clamping jaw cylinder. The clamping jaw 19 is hinged on one side of the swing cylinder 22. The clamping jaw cylinder is arranged in the swing cylinder 22. One end of the clamping jaw 19 is connected with the output end of the clamping jaw cylinder to realize clamping. The other side of the swing cylinder 22 is hinged with one end of the fixed seat 20. The two ends of the overturning oil cylinder 21 are respectively hinged with the swing cylinder 22 and the other end of the fixed seat 20. The overturning oil cylinder 21 realizes the swing of the swing cylinder 22 around the hinge point through extension and contraction. When the overturning oil cylinder 21 extends to the limit length, the length direction of the swing cylinder 22 is parallel to the rack 1. When the overturning oil cylinder 21 shortens to the limit length, the length direction of the swing cylinder 22 is perpendicular to the rack 1. The overturning oil cylinder 21 drives the clamping jaw 19 to make overturning movement. When the drill rod 29 is inserted in the direction perpendicular to the rack 1, first, the clamping jaw cylinder drives the clamping jaw 19 to clamp one end of the drill rod 29. The overturning oil cylinder 21 shortens the stroke. The swing cylinder 22 swings 90 degrees around the fixed seat 20, drives the drill rod 29 to overturn 90 degrees and basically coincides with the drilling axis of the rack 1, releases the clamping jaw 19 after butt joint installation, and then the overturning oil cylinder 21 extends the stroke to reset. Through the above setting, the route is optimized, the overturning function and the translation function are combined, and the telescopic joint 17 is reduced. The overturning and moving functions are combined, which avoids the situation that multiple complex components need to work together in the traditional system. The traditional system may need a separate overturning device and multiple manipulators to complete the transfer, overturning and butt joint of the drill rod 29. The design directly drives the swing cylinder 22 to overturn through the use of the overturning oil cylinder 21, simplifies the mechanical structure, reduces the telescopic joint 17 and related connecting components, and makes the drill rod 29 more smooth in the process of loading and unloading. The extension and contraction action of the overturning oil cylinder 21 can accurately control the overturning angle of the clamping jaw 19, ensure that the drill rod 29 can be accurately overturned from the vertical position to the position parallel to the drilling machine axis, and avoid butt joint failure or drill rod 29 mispositioning caused by inaccurate control.

[0046] The lifting outer cylinder 11 is fixedly connected with the first sliding seat 10 through the connecting block 23. The inner sliding rail 24 is arranged on the inner side of the lifting outer cylinder 11 in a detachable manner. The sliding block suitable for the inner sliding rail 24 is fixed on the outer side of the lifting inner cylinder 12. The sliding block and the inner sliding rail 24 are in sliding fit.

[0047] The opposite surfaces of the first slide rail 9 and the second slide rail 14 are provided with a rack 25, and a first gear and a second gear are provided and engaged with the rack 25 on the first slide rail 9 and the second slide rail 14 respectively, a first motor 26 is installed on the first slide base 10 to drive the first gear to rotate, and a second motor 27 is installed on the second slide base 15 to drive the second gear to rotate. Through the engagement of the rack 25 and the gear, the accuracy of the movement of the slide base on the slide rail can be ensured, the movement error caused by friction or gap is reduced, the gear and rack 25 structure can provide stronger carrying capacity and transmission efficiency, displacement is not easy to occur, and the stability and reliability of the whole lifting system are improved. The first slide base 10 and the second slide base 15 are integrally formed with clamping plates 28 on the upper and lower two sides, and the clamping plates 28 are used for clamping the outer side of the first slide rail 9 or the second slide base 15 for limiting.

[0048] The above is only an embodiment of the present application, and the well-known specific technical solutions and / or common knowledge of characteristics in the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical scheme of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A drill rod auto disassembly device, characterized by: The drilling rig includes a rack and a drill pipe box for storing drill pipes, the drill pipe box includes a bottom plate and vertical plates arranged at both ends of the bottom plate, a transfer manipulator for transferring drill pipes is arranged outside the vertical plate close to the rack, the transfer manipulator includes a first sliding part, a lifting part and a clamping unit capable of sliding relative to the lifting part, the lifting part is installed on the first sliding part and is capable of transversely sliding relative to the vertical plate, and a turnover manipulator for turning over drill pipes to make them coaxial with driving drill pipes is further arranged on the rack.

2. The automatic dismounting device for drill pipe according to claim 1, characterized in that: The vertical plate close to the rack is provided with a longitudinal opening, and the rack is provided with a through hole opposite to the longitudinal opening for the drill pipes to pass through.

3. A device for automatic disassembly of drill pipes according to claim 1 or 2, characterized in that: The first sliding part includes a first sliding rail and a first sliding seat slidingly arranged on the first sliding rail, the lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidingly arranged in the lifting outer cylinder, the lifting cylinder is installed at the bottom of the lifting inner cylinder, and an output end of the lifting cylinder is fixedly connected with the lifting inner cylinder.

4. The automatic dismounting device for drill pipes according to claim 3, characterized in that: The first sliding part further includes a second sliding part, the second sliding part includes a cross beam, a second sliding rail and a second sliding seat slidingly arranged on the second sliding rail, the cross beam is fixedly arranged at the top end of the lifting inner cylinder, the second sliding rail is fixed to the side surface of the cross beam, and the clamping unit is fixed to the second sliding seat.

5. The automatic dismounting device for drill pipes according to claim 4, characterized in that: The clamping unit includes a telescopic oil cylinder, a telescopic joint and a gripper, the telescopic joint includes an inner sleeve and an outer sleeve, the outer sleeve is fixed to the second sliding seat, the telescopic oil cylinder is installed at the top of the outer sleeve, an output end of the telescopic oil cylinder is fixedly connected with the inner cylinder, the clamping unit further includes a clamping driving element, and the gripper is installed on the inner sleeve through the clamping driving element.

6. The automatic drill rod changer of claim 5 wherein: The turnover manipulator includes a gripper part, a fixing seat and a turnover oil cylinder, the fixing seat is fixed to the rack, the gripper part includes grippers, a swing cylinder and a gripper cylinder, the grippers are hingedly arranged at one side of the swing cylinder, the gripper cylinder is arranged in the swing cylinder, one end of each of the grippers is connected with an output end of the gripper cylinder to realize clamping, the other side of the swing cylinder is hingedly connected with one end of the fixing seat, and the turnover oil cylinder is hingedly connected with the other end of the fixing seat and the swing cylinder, respectively, and the turnover oil cylinder is capable of swinging to drive the swing cylinder to swing around the hinge point.

7. The automatic drill rod changer of claim 6 wherein: The lifting outer cylinder is fixedly connected with the first sliding seat through a connecting block, an inner sliding rail is detachably arranged on the inner side of the lifting outer cylinder, a sliding block suitable for the inner sliding rail is fixed to the outer side of the lifting inner cylinder, and the sliding block is slidingly matched with the inner sliding rail.

8. The automatic dismounting device for drill pipes according to claim 7, characterized in that: The inner sliding rail is detachably connected with the lifting outer cylinder through bolts.

9. The automatic drill rod changer of claim 8, wherein: The number of the inner sliding rails and the sliding blocks is two, the inner sliding rails are symmetrically arranged at both sides of the lifting outer cylinder, and the sliding blocks are also symmetrically fixed to the outer side of the lifting inner cylinder.

10. The automatic dismounting device for drill pipes according to claim 9, characterized in that: The opposite surfaces of the first sliding rail and the second sliding rail are provided with racks, a first gear and a second gear are arranged, respectively, to engage with the racks on the first sliding rail and the second sliding rail, a first motor is installed on the first sliding seat to drive the first gear to rotate, and a second motor is installed on the second sliding seat to drive the second gear to rotate.

11. The automatic drill rod changer of claim 10 wherein: The first sliding seat and the second sliding seat are integrally formed with clamping plates on the upper and lower sides, respectively, and the clamping plates are used to clamp and limit the outer sides of the first sliding rail or the second sliding seat.

12. The automatic drill rod changer of claim 11, wherein: When the turnover oil cylinder is extended to the limit length, the length direction of the swing cylinder is parallel to the rack, and when the turnover oil cylinder is shortened to the limit length, the length direction of the swing cylinder is perpendicular to the rack.

13. The automatic drill rod changer of claim 12, wherein: Side plates are further fixedly arranged at both sides of the bottom plate.

14. The automatic drill rod changer of claim 13, wherein: A plurality of observation holes are further arranged on the vertical plate.

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