Drill rod loading and unloading system for narrow-body automatic drilling machine

Abstract

The utility model relates to the technical field of mining equipment, and discloses a drill rod loading and unloading system for a narrow-body automatic drilling machine, which comprises a rack, a drill rod box and a drill rod transfer mechanism, the drill rod transferring mechanism comprises an auxiliary mechanical arm used for transferring the drill rod between the drill rod box and the transferring groove and a main mechanical arm used for transferring the drill rod between the rack and the auxiliary mechanical arm and achieving disassembly and assembly of the drill rod, and the main mechanical arm comprises a rotary speed reducer, a rotary arm, an overturning assembly and a first clamping assembly which are sequentially connected. The auxiliary mechanical arm is slidably arranged at the top of the drill rod box, the main mechanical arm further comprises a swing assembly, and the swing assembly drives the first clamping assembly to rotate to swing the drill rod to be clamped into the clamping device. After the technical scheme is adopted, the distance between the driving drill rod and the tail part of the drill rod to be clamped can be reduced, so that the width of the drilling machine body is reduced, and the drilling machine can better adapt to the working environment of a narrow roadway of an underground coal mine.

Description

TECHNICAL FIELD

[0001] The utility model relates to mining exploitation equipment technical field, concretely relates to a kind of drill rod loading and unloading system for narrow fuselage automatic drilling machine. BACKGROUND

[0002] In the process of mining, especially in underground mine, to reduce the labor burden of workers, generally use mining automatic drilling machine to enter roadway to carry out drilling operation, the existing mining automatic drilling machine generally includes drill rod box and rack, vice manipulator and main manipulator are arranged between drill rod box and rack as drill rod loading and unloading system, wherein, vice manipulator is used to transport drill rod between drill rod box and main manipulator, main manipulator is used to transfer drill rod transported by vice manipulator to drilling machine rack to clamp or transfer drill rod in hole detached from drilling machine rack to vice manipulator and transport drill rod in hole detached back to drill rod box storage by vice manipulator.In drilling by automatic drilling machine, automatic drilling machine needs to be transported to roadway, due to the design and construction of roadway are influenced by many factors such as geological conditions, resource protection, economic cost and safety consideration, so the design width of roadway is limited by many factors, therefore, the width of body of automatic drilling machine determines the application range of automatic drilling machine to a great extent.

[0003] At present, the width of automatic drilling machine arrangement is generally determined by the length of rack, and the length of rack is often determined by the design of main manipulator, such as the patent with publication number CN111042752A discloses a manipulator for loading and unloading drill rod, including rotator, rotary arm, rotary motor and paw, rotary motor is connected with rotator and drives rotary arm to drive paw to overturn, rotator controls the increase and decrease of inclination angle of paw;That is, the approximate sequence of the manipulator transferring the drill rod to be clamped to the drilling machine rack for clamping is as follows: after paw clamps the drill rod to be clamped, rotator controls the increase of inclination angle of paw, then rotary motor drives rotary arm to drive paw to overturn, then rotator controls the decrease of inclination angle of paw until the drill rod to be clamped is placed into the holder of drilling machine, the drill rod to be clamped is placed into the holder of drilling machine, that is, placed in place, at this time, paw contacts with the sensor arranged on rack to make rotator stop rotating, after the holder clamps the drill rod to be clamped, paw releases and the manipulator resets.

[0004] After the drill rod to be clamped is placed in place, rotary arm is parallel to rack, that is, after the drill rod to be clamped is placed in place, the drill rod to be clamped is parallel to rack, that is, the drill rod to be clamped is coaxial with the main drill rod of drilling machine, then the main drill rod moves and rotates to be connected with the tail thread of drill rod to be clamped;This is prior art, and will not be described here, such as Figure 16As shown, it is found through research that, in the process of reducing the inclination angle of the slewing control gripper, since the running track of the tail of the drill rod to be clamped is an arc, in order to avoid interference between the tail of the drill rod to be clamped and the active drill rod and ensure that the drill rod to be clamped is placed in place smoothly, only the distance between the drill rod to be clamped and the active drill rod is increased, that is, after the drill rod to be clamped is placed into the gripper of the drilling machine, there is a large distance k between the active drill rod and the tail of the drill rod to be clamped, which directly increases the width of the machine body of the drilling machine and the width of the machine body of the automatic drilling machine, so that when the completed roadway is too narrow, the automatic drilling machine cannot enter the roadway to work, and when the roadway is too narrow, the traditional manual drilling machine mining mode or blasting mining mode has to be returned to, so that there is a serious safety hazard in the mining operation in the narrow roadway. Content of the utility model

[0005] The utility model intends to provide a drill rod loading and unloading system for a narrow-machine-body automatic drilling machine, so as to shorten the width of the rack and be suitable for the automatic drilling machine with a narrow machine body.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a drill rod loading and unloading system for a narrow-machine-body automatic drilling machine, comprising a rack, a drill rod box and a drill rod transfer mechanism, the rack is provided with a gripper and an active drill rod, the drill rod transfer mechanism comprises a secondary mechanical hand for transferring the drill rod between the drill rod box and a transfer groove and a primary mechanical hand for transferring the drill rod between the rack and the secondary mechanical hand and realizing the dismounting and mounting of the drill rod, the primary mechanical hand comprises a slewing reducer, a slewing arm, a turnover assembly and a first clamping assembly which are connected in sequence, the secondary mechanical hand is slidingly arranged on the top of the drill rod box, the primary mechanical hand further comprises a swing assembly, the first clamping assembly is rotationally connected with the turnover assembly through the swing assembly, after the drill rod to be clamped is transferred to above the rack of the drilling machine and is parallel or close to parallel to the rack through the cooperation of the slewing reducer and the turnover assembly, the drill rod to be clamped is swung into the gripper through the rotation of the first clamping assembly driven by the swing assembly.

[0007] The beneficial effects of the scheme are:

[0008] After the slewing reducer drives the turnover mechanism to increase the inclination angle, the turnover mechanism drives the first clamping assembly to turn over, then the swing mechanism drives the drill rod to be clamped to swing into the gripper in a state of being parallel to the rack, and after the swing mechanism drives the drill rod in the hole to swing out of the gripper in a state of being parallel to the rack, the turnover mechanism and the slewing reducer cooperate to drive the first clamping assembly to reset and continue to grab the drill rod to be clamped.

[0009] Compared with the existing drill rod loading and unloading manipulator, the scheme changes the method of placing the to-be-clamped drill rod in parallel with the rack, sets the swing mechanism, the swing mechanism swings the to-be-clamped drill rod in advance into the clamping device in parallel with the rack, and the running track of the tail of the to-be-clamped drill rod is no longer an arc in the process of entering the clamping device, and the to-be-clamped drill rod can be placed in position with a very small distance from the active drill rod in the axial direction of the rack, thereby solving the problem that the tail of the to-be-clamped drill rod interferes with the active drill rod in the process of placing the to-be-clamped drill rod into the clamping device in the prior art, and further solving the problem that there is a large distance between the active drill rod and the tail of the to-be-clamped drill rod after the to-be-clamped drill rod is placed in position.

[0010] Compared with the prior art, the distance between the active drill rod and the tail of the to-be-clamped drill rod is reduced by 80mm after the to-be-clamped drill rod is placed in position, the reduced 80mm shortens the stroke of the active drill rod, reduces the design difficulty, and reduces the length of the rack by 80mm in the axial direction, i.e. reduces the width of the drilling machine body by 80mm, so that the structure of the drilling machine is more compact, can better adapt to the narrow roadway working environment in the coal mine, makes the rack less limited when adjusting the inclination angle, thereby reducing the length of the rack, and better adapting to the narrow drilling machine body.

[0011] Further, the swing assembly includes a swing driving member and a swing mounting frame, the swing mounting frame is connected with the turnover assembly, the first clamping assembly is hinged with the swing mounting frame through the swing driving member, and the first clamping assembly can rotate around the swing mounting frame under the action of the swing driving member.

[0012] Further, the first positioning assembly includes a first sensor fixed on the outer wall of the rack for judging whether the grabbing device is parallel to the rack, a second sensor fixed on the rack for judging the first rotation angle of the rotary arm, and a third sensor fixed on the rack for judging the second rotation angle of the rotary arm; when the swing mounting frame triggers the first sensor, the drill rod is parallel to the rack; when the second sensor triggers, the rotary arm reaches the inclination angle of the first clamping assembly for clamping or returning the drill rod; and when the third sensor triggers, the rotary arm reaches the turnover inclination angle of the turnover assembly.

[0013] Further, the turnover mechanism includes a turnover driving member and a turnover main shaft, the turnover driving member is fixedly arranged on the rotary arm, the turnover main shaft is rotatably arranged on the rotary arm and fixedly connected with the output shaft of the turnover driving member, the first clamping assembly includes a telescopic mechanism and a clamping mechanism, the clamping mechanism is connected with the turnover mechanism through the telescopic mechanism, the telescopic mechanism is hinged with the swing mounting frame through the swing driving member, and the telescopic mechanism can rotate around the swing mounting frame to drive the clamping mechanism to rotate.

[0014] Further, the rotating arm is fixed with a positioning sleeve, the inner wall of the positioning sleeve is fixed with an inner boss, the outer arm of the main shaft is fixed with an outer boss, and the outer boss abuts against the inner boss after rotating to the limit position of the main shaft. The limit position of the limit rotation angle of the rotating main shaft is limited through the cooperation of the inner boss and the outer boss, the accurate positioning of the mechanical hand is realized, and when the turning driving part is damaged or the control of the turning driving part has a problem, the turning angle of the turning main shaft is prevented from being too large to cause damage to other facilities on the drilling machine and expand the loss.

[0015] Further, the telescopic mechanism includes a telescopic outer cylinder, a telescopic inner cylinder and a telescopic driving part, the telescopic outer cylinder is rotationally arranged on the swing mounting frame, the telescopic inner cylinder is slidingly arranged in the telescopic outer cylinder, the telescopic driving part is fixedly connected with the telescopic inner cylinder and the telescopic outer cylinder at two ends respectively, and the clamping mechanism is fixedly arranged at the free end of the telescopic inner cylinder; the first positioning assembly further includes a telescopic positioning assembly for detecting the limit position of the telescopic inner cylinder in extension and retraction, the telescopic positioning assembly includes a protective cover, a signal rod, a connecting frame and a proximity switch, the protective cover is fixedly connected with the telescopic outer cylinder, the proximity switch is mounted on the protective cover, the signal rod is slidingly connected with the protective cover, one end of the signal rod is connected with the clamping mechanism through the connecting frame, both ends of the signal rod are provided with notches, and the signal changes when the notches are close to the proximity switch. Through the setting of the telescopic mechanism and the telescopic positioning assembly, after the first clamping assembly grabs the to-be-clamped drill rod, the first clamping assembly is retracted under the driving of the telescopic mechanism before the first clamping assembly is turned over by the turning mechanism, so that the space occupied by the turning over of the first clamping assembly is smaller, which is beneficial to improve the compactness of the drilling machine and is convenient for operation in a narrow roadway. Meanwhile, through the setting of the telescopic positioning assembly, notches are arranged at both ends of the signal rod, and there is no notch in the middle. Through the cooperation of the notches and the proximity switch, when the notches are close to the proximity switch, the proximity switch is no longer in contact with the signal rod, so that the signal changes, thereby determining whether the signal rod is completely extended or retracted. Since the signal rod is retracted and extended with the telescopic inner cylinder, whether the telescopic inner cylinder is completely extended or retracted is determined, the telescopic stroke of the telescopic mechanism can be accurately fed back through the telescopic positioning assembly, the stroke of the telescopic mechanism is more controllable, the telescopic speed of the mechanical hand can be increased, and the construction efficiency of the drilling machine is improved.

[0016] Further, the swing mounting frame includes a connecting plate and two L-shaped mounting plates, the two mounting plates are connected through the connecting plate, the connecting plate is in contact with the sensor arranged on the rack when the drill rod is parallel to the rack, the side plate close to the turning mechanism is connected with the turning mechanism, the first clamping assembly is hinged with the connecting plate through the swing driving part, and the first clamping assembly can rotate around the side plate.

[0017] Further, when installing the drill pipe, the overturning mechanism drives the clamping mechanism to overturn by a certain angle, then drives the overturning mechanism to increase the inclination angle until it is greater than the inclination angle of the rack, then the overturning mechanism drives the clamping mechanism to transfer the drill pipe to be installed above the rack, the slewing reducer drives the overturning mechanism to decrease the inclination angle until the overturning mechanism is parallel to the rack, and then the swinging mechanism drives the clamping mechanism to swing the drill pipe to be installed into the holder.

[0018] Further, the clamping mechanism comprises a fixed claw, a movable claw and a clamping driving element, the fixed claw is fixedly arranged at the free end of the telescopic inner cylinder, the movable claw is hinged to the fixed claw, and the clamping driving element is arranged on the fixed claw and can drive the movable claw to rotate.

[0019] Further, the telescopic driving element, the swinging driving element and the clamping driving element are all telescopic driving elements.

[0020] Further, the telescopic driving element is an oil cylinder.

[0021] Further, the first sensor, the second sensor and the third sensor are all proximity switches.

[0022] Further, the auxiliary manipulator comprises a sliding assembly, a telescopic clamping assembly and a second positioning assembly, the sliding assembly is arranged on the top of the drill pipe box, the telescopic clamping assembly slides on the top of the drill pipe box under the action of the sliding assembly and the second positioning assembly and transports the drill pipe between the drill pipe box and the main manipulator; the drill pipe transfer mechanism further comprises a transfer groove, the transportation between the auxiliary manipulator and the main manipulator is transferred through the transfer groove, and the transfer groove is slidably arranged on the rack and can drive the drill pipe to move away from the sliding assembly.

[0023] Further, the sliding assembly comprises a sliding seat, a sliding rail and a sliding driving element, the sliding seat is slidably arranged on the sliding rail, the sliding rail is fixedly arranged on the top of the drill pipe box, and the sliding driving element is fixedly arranged on the sliding seat and can drive the sliding seat to reciprocate.

[0024] Further, the lifting clamping assembly comprises a lifting assembly and a clamping assembly, the lifting assembly comprises a mounting cylinder, a first lifting cylinder, a second lifting cylinder, a first lifting driving element and a second lifting driving element, the mounting cylinder is rotatably arranged on the sliding table, the first lifting cylinder is slidably arranged in the mounting cylinder, the second lifting cylinder is slidably arranged in the first lifting cylinder, the first lifting driving element is fixedly arranged between the mounting cylinder and the first lifting cylinder and can drive the first lifting cylinder to slide relative to the mounting cylinder, the second lifting driving element is arranged between the first telescopic cylinder and the second telescopic cylinder and can drive the first lifting cylinder and the second lifting cylinder to slide relative to each other, and the second clamping assembly is fixedly arranged at the free end of the second lifting cylinder. Through the arrangement of the first lifting cylinder and the second lifting cylinder, a two-stage lifting structure is formed, the second clamping assembly is lifted under the driving of the first lifting driving element and the second lifting driving element, and meanwhile, only one electromagnetic valve is needed to control the actions of the two oil cylinders, the complexity of the pipeline and system is reduced, the lifting efficiency is improved, and the transfer efficiency of the drill pipe is improved.

[0025] Further, the second positioning assembly comprises a lifting sensor for determining the vertical lifting displacement between the second lifting cylinder and the mounting cylinder, a sliding displacement sensor for determining the horizontal displacement of the sliding seat, and a drill rod sensor for determining whether the clamping assembly is in contact with the drill rod, the lifting sensor being fixedly arranged on the second lifting cylinder or the mounting cylinder, the sliding displacement sensor being fixedly arranged on the sliding seat or the sliding rail, and the drill rod sensor being fixedly arranged on the second clamping assembly. The lifting displacement of the lifting assembly is calibrated by the lifting sensor, and the presence of the drill rods in the drill rod box can be inferred from the distance, and the number of drill rods can be further inferred if the drill rods are present. Meanwhile, the drill rod is detected by the drill rod sensor, and when the second clamping assembly comes into contact with the drill rod, the drill rod sensor can control the lifting assembly to slow down the lifting speed, so that when the lifting sensor is damaged, the lifting of the lifting assembly does not lag, which avoids the collision between the second clamping assembly and the drill rod, increases the subsequent maintenance cost, and meanwhile, the data of the lifting sensor and the drill rod sensor can be compared during maintenance to check whether the lifting sensor or the drill rod sensor is damaged, thereby reducing the subsequent maintenance cost.

[0026] Further, the lifting sensor and the sliding sensor are one of a pull-wire displacement sensor or a magnetic displacement sensor, and the drill rod sensor is a proximity switch.

[0027] Further, the sliding drive member is a hydraulic motor, and the first lifting drive member and the second lifting drive member are both oil cylinders.

[0028] Further, the output shaft of the second lifting drive member is fixedly connected with the first lifting cylinder, and the second drive member is fixedly arranged in the second lifting cylinder and fixedly connected with the first lifting cylinder through the output shaft.

[0029] Further, the carrying platform further comprises an anchor mechanism.

[0030] In combination with the above technical features, the utility model further has the following effects:

[0031] 1. By changing the way of entering the clamping device of the to-be-clamped drill rod, the distance between the tail of the drill rod and the active drill rod is greatly reduced (80mm), thereby shortening the pushing distance, reducing the size in the width direction of the drilling machine, and improving the adaptability and operation flexibility of the drilling machine in narrow space.

[0032] 2. The sensor (such as a proximity switch, a pull-wire displacement sensor or a magnetic displacement sensor) and the positioning assembly are used to realize the precise control of the mechanical hand action, reduce the hysteresis phenomenon of the hydraulic system, accelerate the drill rod transportation speed, and improve the overall working efficiency of the drilling machine.

[0033] 3. The maximum rotation angle of the overturning spindle is limited by the cooperation of the inner boss and the outer boss, so as to avoid excessive overturning caused by the failure of the driving part, and to avoid loss expansion.

[0034] 4. The track vehicle is used as a carrying platform, and is provided with an anchoring mechanism to ensure stability, and a sensor type (such as a pull-wire type or a magnetic displacement sensor) which is less affected by dust is selected to adapt to harsh working conditions in a coal mine.

[0035] 5. The design that the swing reducer drives the overturning mechanism to increase and then decrease the inclination angle ensures that the to-be-clamped drill rod is parallel to the rack, avoids angle errors caused by only relying on inclination detection, and guarantees the accuracy of subsequent coupling actions. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a three-dimensional view of the embodiment of the utility model;

[0037] Figure 2 It is a schematic view of the working state of the auxiliary manipulator of the embodiment of the utility model;

[0038] Figure 3 It is a schematic view of the internal structure of the lifting and clamping assembly of the embodiment of the utility model;

[0039] Figure 4 It is a three-dimensional view of the sliding seat of the embodiment of the utility model;

[0040] Figure 5 It is a three-dimensional view of the drill rod box and the auxiliary manipulator in a transportation state of the embodiment of the utility model;

[0041] Figure 6 It is a three-dimensional view of the working state of the auxiliary manipulator of the embodiment of the utility model;

[0042] Figure 7 It is a three-dimensional view of the main manipulator of the embodiment of the utility model from one perspective;

[0043] Figure 8 It is a three-dimensional view of the main manipulator of the embodiment of the utility model from another perspective;

[0044] Figure 9 It is an assembly schematic view of the overturning spindle and the positioning sleeve of the main manipulator of the embodiment of the utility model;

[0045] Figure 10 It is an exploded view of the swing assembly of the embodiment of the utility model;

[0046] Figure 11 It is an exploded view of the positioning assembly of the embodiment of the utility model;

[0047] Figure 12 It is a three-dimensional view of the positioning assembly of the embodiment of the utility model;

[0048] Figure 13 It is the process schematic view that the drill rod is sent into the rack through the swing assembly in the embodiment of the utility model;

[0049] Figure 14 It is the assembly schematic view of the trigger positioning assembly in the embodiment of the utility model;

[0050] Figure 15 It is the three-dimensional view of the moving platform in the embodiment of the utility model;

[0051] Figure 16 It is the schematic view of the drill rod putting in state in the background art. DETAILED DESCRIPTION

[0052] The following is further explained in detail through specific embodiments:

[0053] The reference signs in the drawings of the specification include: tracked vehicle 1, anchoring oil cylinder 11, bottom plate 21, side plate 22, vertical plate 23, partition plate 24, drill rod to be clamped 25, sliding rail 31, stop block 311, sliding seat 32, positioning hole 321, rotary mounting hole 322, mounting cylinder 33, mounting plate 331, rotating shaft 332, positioning pin 333, second clamping assembly 34, first lifting cylinder 35, second lifting cylinder 36, first lifting driving part 371, second lifting driving part 372, sliding displacement sensor 381, lifting sensor 382, drill rod sensor 383, rotary reducer 41, rotary arm 42, fixing seat 421, inner boss 4211, overturning main shaft 431, outer boss 4311, overturning driving part 432, telescopic outer cylinder 441, telescopic inner cylinder 442, swing mounting bracket 45, first clamping assembly 46, protective cover 471, mounting block 472, signal rod 473, connecting part 474, positioning sensor 475, first sensor 481, second sensor 482, third sensor 483, signaling block 484, receiver 485, swing driving part 49, transfer groove 5, rack 6, rear clamping device 61, active drill rod 62.

[0054] Embodiment 1

[0055] Embodiment 1 is basically as shown in the accompanying drawings, as shown in the accompanying drawings, a narrow-body automatic drilling machine, including a carrying platform, a rack 6, a drill rod box and a drill rod transfer system, the carrying platform includes a tracked vehicle 1 and an anchoring mechanism, the tracked vehicle 1 is internally integrated with a hydraulic oil circuit including an oil pipe and a valve seat, and the hydraulic oil in the oil pipe is controlled through the valve seat to supply energy for the anchoring mechanism and the drill rod loading and unloading system, the anchoring mechanism includes an anchoring oil cylinder 11, as shown, the anchoring oil cylinder 11 is fixedly arranged below or at the front and rear ends of the tracked vehicle 1, in the embodiment, the anchoring oil cylinder 11 is arranged below and at the front end of the tracked vehicle 1. Figures 1-12 Figures 1-12 Figure 15 The narrow-body automatic drilling machine further includes a drill rod loading and unloading system, as shown, the drill rod loading and unloading system is arranged on the rack 6, and the drill rod loading and unloading system includes a drill rod loading and unloading mechanism and a drill rod loading and unloading control system, the drill rod loading and unloading mechanism is arranged on the rack 6, and the drill rod loading and unloading control system is arranged on the carrying platform.​​

[0056] The frame 6 is rotatably mounted on the tracked vehicle 1. The frame 6 is equipped with an active drill rod 62 and a clamping assembly. The active drill rod 62 is slidably mounted on the frame 6. The clamping assembly is fixedly connected to the frame 6 by bolts. In this embodiment, the clamping assembly is a double clamping assembly including a front clamping assembly and a rear clamping assembly 61. The front clamping assembly and the rear clamping assembly 61 are fixedly connected to the drilling rig mounting frame by bolts. Both the front clamping assembly and the rear clamping assembly 61 are top-to-top clamping assemblies. The difference is that the top of the rear clamping assembly 61 is provided with an opening. The size of the opening is larger than the diameter of the drill rod. A drill rod loading and unloading cavity is formed between the opening of the rear clamping assembly 61 and the active drill rod 62. The drill rod loading and unloading cavity is a virtual cavity coaxial with the active drill rod 62.

[0057] During drilling, firstly, the nth drill rod 25 to be clamped enters the drill rod loading and unloading cavity under the action of the drill rod loading and unloading system. Clamped by the rear clamp 61, the active drill rod 62 approaches the nth drill rod 25 and, through rotation, screws it together with the nth drill rod 25. Subsequently, the rear clamp 61 releases, and the nth drill rod 25, driven by the active drill rod 62, approaches the (n-1)th drill rod 25 clamped by the front clamp and, through rotation... The (n-1)th drill rod 25 to be clamped is screwed together with the front clamp. Then, under the action of the active drill rod 62, the rear end of the nth drill rod 25 to be clamped enters the front clamp. Through the clamping action of the front clamp and the reversal of the active drill rod 62, the active drill rod 62 disengages from the nth drill rod 25 to be clamped and moves away from the rear clamp 61, leaving a drill rod loading and unloading cavity for the (n+1)th drill rod 25 to be clamped to enter, until the predetermined drilling operation is completed.

[0058] like Figure 1 , Figure 5 As shown, the drill pipe box includes a base plate 21, a side plate 22, and a vertical plate 23. The side plate 22 and the vertical plate 23 are welded to the base plate 21 to form a box with an open top. Several partitions 24 are welded at equal intervals on the vertical plate 23. The partitions 24 are parallel to the side plate 22, and the spacing of the partitions 24 is adapted to the size of the drill pipe.

[0059] The drill pipe transfer system includes a main manipulator, a transfer chute 5, and a secondary manipulator. The main manipulator is used to transport the drill pipe to be clamped between the drill pipe loading and unloading cavity and the transfer chute 5. The transfer chute 5 is used to adjust the position of the drill pipe to be clamped relative to the main manipulator and the secondary manipulator to avoid interference between the drill pipe to be clamped and the secondary manipulator or the main manipulator when the main manipulator or the secondary manipulator is transferring the drill pipe to be clamped. The secondary manipulator is used to transfer the drill pipe to be clamped between the transfer chute 5 and the drill pipe box.

[0060] The main manipulator comprises a slewing reducer 41, a slewing arm 42, a turnover assembly, a telescopic clamping assembly, a swing assembly and a first positioning assembly, the slewing reducer 41, the slewing arm 42, the turnover assembly and the telescopic clamping assembly are sequentially connected, the slewing reducer 41 is rotationally arranged on the frame 6, the slewing arm 42 is rotationally arranged on the slewing reducer 41, a positioning sleeve 421 is fixed at the top end of the slewing arm 42 by bolts, and the telescopic clamping assembly is rotationally arranged on the turnover assembly through the swing assembly.

[0061] The turnover assembly comprises a turnover driving member 432, the positioning sleeve 421 and a turnover main shaft 431, as shown in Figure 5 , Figure 6 The turnover driving member 432 is fixedly connected with the mounting arm through bolts, the positioning sleeve 421 is connected with the slewing arm 42, and the turnover main shaft 431 is rotationally arranged on the positioning sleeve 421 and is keyed connected with the output shaft of the turnover driving member, as shown in Figure 9 The positioning sleeve 421 is provided with an outer boss 4311, the turnover main shaft 431 is provided with an inner boss 4211, the inner boss 4211 and the outer boss 4311 cooperate to form a limiting unit for limiting the rotation limit of the turnover main shaft 431, under the limitation of the limiting unit, the limit rotation angle of the turnover main shaft 431 is 300 degrees, in the embodiment, the turnover driving member 432 is a hydraulic motor, and the rotation angle of the turnover main shaft 431 is 240°.

[0062] The telescopic clamping assembly comprises a telescopic assembly and a first clamping assembly 46, the telescopic assembly comprises a telescopic inner cylinder 442, a telescopic outer cylinder 441 and a telescopic driving member, the telescopic inner cylinder 442 is slidingly arranged in the telescopic outer cylinder 441, the first clamping assembly 46 is fixed at the free end of the telescopic inner cylinder 442, one end of the telescopic driving member is fixedly connected with the telescopic inner cylinder 442, and the other end is fixedly connected with the telescopic outer cylinder 441, so that the telescopic inner cylinder 442 is driven to slide on the telescopic outer cylinder 441 through the telescopic driving member, and the first clamping assembly 46 is driven to telescopically slide, thereby increasing the clamping range of the first clamping assembly 46.

[0063] The first clamping assembly 46 comprises a fixed jaw, a movable jaw and a clamping driving member, the fixed jaw is fixedly connected with the telescopic outer cylinder 441 through bolts, and the movable jaw is hinged to the fixed jaw, in the embodiment, the clamping driving member is an oil cylinder, one end of the oil cylinder is hinged to the fixed jaw, and the other end is hinged to the movable jaw, so that the movable jaw is driven to rotate through the telescopic driving member, and the clamping work of the first clamping assembly 46 is controlled.

[0064] As shown in Figure 10As shown, the swing assembly comprises a swing mounting frame 45 and a swing driving member 49. The swing mounting frame 45 comprises an integral connecting plate and two L-shaped mounting plates which are integrated by the connecting plate and are bolted to the turnover main shaft 431 through one of the mounting plates. The swing driving member 49 is a kind of telescopic driving member. In this embodiment, the swing driving member 49 is an oil cylinder. One end of the swing driving member 49 is hinged to the swing mounting frame 45, and the other end is hinged to the telescopic outer cylinder 441 which is rotatably arranged between the two mounting plates. Thus, the telescopic assembly is driven to swing by the extension and retraction of the swing driving member 49, and the first clamping assembly 46 and the drill pipe clamped by the first clamping assembly 46 are driven to swing.

[0065] The first positioning assembly comprises a trigger positioning assembly for determining the position of the turnover main shaft 431 and a telescopic positioning assembly for determining the position of the first clamping assembly 46. The trigger positioning assembly comprises a first sensor 481, a second sensor 482, a third sensor 483, a transmitter block 484 and a receiver 485, as shown in FIG. 4. Figure 14As shown, the first sensor 481, the second sensor 482 and the third sensor 483 are displacement sensors, the first sensor 481 is fixed on the frame 6 and forms a first trigger assembly with the swing mounting frame 45, when the swing mounting frame 45 approaches the first sensor 481 and triggers the first sensor 481, the turnover spindle 431 is parallel to the frame 6; the second sensor 482 and the third sensor 483 are both fixed on the frame 6 and form corresponding trigger assemblies with the rotation displacement of the swing arm 42, when the swing arm 42 is rotated by the rotation of the swing reducer 41 and triggers the second sensor 482, the turnover spindle 431 is parallel to the axis of the to-be-clamped drill rod; when the swing arm 42 is rotated by the rotation of the swing reducer 41 and triggers the third sensor 483, the angle between the turnover spindle 431 and the frame 6 is 7-10°, in the embodiment, the first sensor 481, the second sensor 482 and the third sensor 483 are all proximity switches, the first arc-shaped block and the second arc-shaped block are fixed on the swing arm 42, the first arc-shaped block is arranged on the outer wall of the swing reducer 41, and the second arc-shaped block is arranged on the inner wall of the swing reducer 41; the first sensor 481 measures the displacement information between the swing mounting frame 45, when the displacement information measured by the first sensor 481 reaches a set value, the first sensor 481 triggers and emits a signal to stop the rotation of the turnover assembly, at this time, the turnover spindle 431 of the turnover mechanical arm is parallel to the drilling rig mounting frame, so that the axis of the to-be-clamped drill rod is parallel to the driving drill rod 62; the second sensor 482 measures the displacement information between the first arc-shaped block, when the displacement information measured by the second sensor 482 reaches a set value, the second sensor 482 triggers and emits a signal to stop the rotation of the swing reducer 41, at this time, the angle between the turnover spindle 431 of the turnover mechanical arm and the frame 6 is 7-10°; the third sensor 483 measures the displacement information between the second arc-shaped block, when the displacement information measured by the third sensor 483 reaches a set value, the third sensor 483 triggers and emits a signal to stop the rotation of the swing reducer 41, at this time, the turnover spindle 431 of the turnover mechanical arm is parallel to the to-be-clamped drill rod, so as to facilitate the first clamping assembly 46 to clamp the to-be-clamped drill rod on the transfer groove 5 or place the clamped transfer rod on the transfer groove 5, for example Figure 7 As shown, the receiver 485 is fixed on the fixed seat 421, and the signaling block 484 is fixed on the outer wall of the turnover spindle 431, when the signaling block 484 on the outer wall of the turnover spindle 431 rotates to the front end of the receiver 485, the receiver 485 can receive the signal emitted by the signaling block 484, so as to control the turnover driving part 432 to stop working.

[0066] As shown Figure 11 , Figure 12As shown, the telescopic positioning assembly comprises a protective cover 471, a signal rod 473, a mounting block 472, a connecting piece 474 and a telescopic positioning sensor 475, the protective cover 471 and the mounting block 472 are both fixed on the cylinder body of the telescopic drive member by bolts, the signal rod 473 is slidingly arranged on the mounting block 472, the connecting piece 474 is rotatably arranged at the free end of the signal rod 473, and the telescopic positioning sensor 475 is fixedly arranged on the mounting block 472 by bolts, the signal rod 473 is provided with a first positioning notch and a second positioning notch, the distance between the first positioning notch and the second positioning notch is adapted to the stroke of the telescopic drive member, in the embodiment, the telescopic positioning sensor 475 is a proximity switch, and the telescopic drive member is an oil cylinder, in use, the connecting piece 474 is fixedly connected with the telescopic inner cylinder 442, so that the telescopic inner cylinder 442 drives the signal rod 473 to slide, and then the telescopic sensor 475 measures the displacement of the telescopic inner cylinder 442.

[0067] The transfer groove 5 comprises a transfer basin and a transfer drive member, the transfer disc is slidingly arranged on the tracked vehicle 1 and slides on the width of the tracked vehicle 1 through the transfer drive member, and the transfer disc is provided with a groove adapted to the to-be-clamped drill rod, in the embodiment, the transfer drive member is an oil cylinder, one end of the oil cylinder is fixedly connected with the tracked vehicle 1, and the other end is fixedly connected with the transfer disc, so that the transfer disc slides on the tracked vehicle 1 through the telescopic drive member.

[0068] As shown in Figure 10 , the auxiliary manipulator comprises a sliding assembly, a lifting and clamping assembly and a second positioning assembly, the lifting and clamping assembly slides on the top of the drill rod box under the action of the sliding assembly and the second positioning assembly and transports the drill rod between the drill rod box and the main manipulator.

[0069] The sliding assembly comprises a sliding rail 31, a sliding seat 32 and a driving structure, the sliding rail 31 is welded or bolted to the top end of the vertical plate 23, the sliding seat 32 is slidingly arranged on the sliding rail 31, and the sliding rail 31 is provided with a stop block 311 at both ends and connected with the sliding seat 32 by bolts, so as to limit the limit position of the sliding seat 32 on both sides of the sliding rail 31, thereby avoiding accidental sliding off of the sliding seat 32, and the driving structure comprises a rack and a sliding drive member, as shown in Figure 8 , in the embodiment, the sliding rail 31 comprises two tracks, the rack is arranged on one of the sliding rails 31, the sliding drive member is a hydraulic motor, a driving gear is keyed connected to the output shaft of the hydraulic motor, the driving gear is engaged with the rack, and the hydraulic motor is fixed on the sliding seat 32 by bolts, so as to drive the sliding seat 32 to move back and forth on the sliding rail 31 through the reciprocating rotation of the hydraulic motor.

[0070] The lifting and clamping assembly includes a lifting component and a second clamping component 34. The lifting component includes a mounting cylinder 33, a first lifting cylinder 35, and a second lifting cylinder 36. The first lifting cylinder 35 is slidably disposed within the mounting cylinder 33, and the second lifting cylinder 36 is slidably disposed within the first lifting cylinder 35. A connecting component is provided on the side wall of the mounting cylinder 33, such as... Figure 2 , Figure 3 As shown, the connecting assembly includes a mounting plate 331 and a locating pin 333. The mounting plate 331 is welded to the side wall of the mounting cylinder 33 and has a rotating shaft 332 welded to it. The locating pin 333 is slidably disposed on the mounting plate 331, as shown. Figure 4 As shown, the sliding seat 32 is provided with a rotating mounting hole 322 and a plurality of positioning holes 321. The rotating shaft 332 is rotatably connected to the sliding seat 32 through the rotating mounting hole 322. The plurality of positioning holes 321 are combined to form a first positioning slot group and a second positioning slot group. The line connecting the positioning holes 321 in the first positioning slot group is parallel to the sliding direction of the sliding seat 32, and the line connecting the positioning holes 321 in the second positioning slot group is perpendicular to the sliding direction of the sliding seat 32.

[0071] A first lifting drive component 371 is welded to or bolted to the side wall of the mounting cylinder 33. The output shaft of the first lifting drive component 371 is fixedly connected to the first lifting cylinder 35 by bolts. A second lifting drive component 372 is fixedly installed inside the second lifting cylinder 36. The output shaft of the second lifting drive component 372 is fixedly connected to the upper end of the first lifting cylinder 35. The structure and clamping process of the second clamping assembly 34 are basically the same as those of the first clamping assembly 46, and will not be described in detail here. The second clamping assembly 34 is fixed to the lower end of the second lifting cylinder 36 by bolts. When the output shaft of the first lifting drive component 371 extends, the first lifting cylinder 35 moves away from the mounting cylinder 33 and drives the second lifting cylinder 36 away from the mounting cylinder 33, thereby driving the second clamping assembly 34 away from the mounting cylinder 33. When the output shaft of the second lifting drive component 372 extends, due to the extension of the first lifting drive component 371, the relative position of the first lifting cylinder 35 and the mounting cylinder 33 remains unchanged, causing the second lifting cylinder 36 to slide inside the first lifting cylinder 35, driving the second clamping assembly 34 away from the mounting cylinder 33.

[0072] like Figure 5 , Figure 6 As shown, when the locating pin 333 on the mounting plate 331 is inserted into the first locating slot, the lifting cylinder remains as follows. Figure 7 The rig is positioned in a reclining state to reduce its height for easier transport; when the locating pin 333 on the mounting plate 331 is inserted into the second locating slot, the lifting cylinder remains in the same position. Figure 8 The vertical position shown allows the output shaft of the lifting cylinder to drive the clamping assembly to a suitable height, clamping the drill rod in the drill rod box or placing the drill rod clamped on the second clamping assembly 34 between the partitions 24 of the drill rod box.

[0073] The second positioning assembly comprises a lifting sensor 382, a sliding displacement sensor 381 and a drill rod sensor 383, wherein the lifting sensor 382 and the sliding displacement sensor 381 are one of a pull-wire displacement sensor or a magnetic displacement sensor, and the drill rod sensor 383 is one of a Hall inductive sensor. In the embodiment, the lifting sensor 382 and the sliding displacement sensor 381 are pull-wire displacement sensors, and the drill rod sensor 383 is a proximity switch. The lifting sensor 382 is fixedly arranged on the mounting cylinder 33 and connected with the second lifting cylinder 36 through a lead wire, so as to judge the displacement change of the second clamping assembly 34 by detecting the displacement change between the second lifting cylinder 36 and the mounting cylinder 33. The sliding displacement sensor 381 is fixed on the sliding seat 32 and fixedly connected with the sliding rail through a pull wire, so as to detect the displacement change of the sliding seat 32. The drill rod sensor 383 is fixed on the fixed jaw of the second clamping assembly 34, and is used to detect the displacement change between the drill rod and the second clamping assembly 34. When the second clamping assembly 34 approaches the drill rod, the drill rod sensor 383 is triggered, so that the lifting speed of the lifting assembly is slowed down, and collision between the drill rod and the second clamping assembly 34 is avoided.

[0074] The specific implementation process is as follows:

[0075] The drilling process is as follows:

[0076] The working process of the auxiliary manipulator is as follows: Figure 6 Firstly, as shown in the figure, the mounting cylinder 33 is rotated to the vertical state and the positioning pin 333 is fixedly connected with the positioning hole 321 of the second positioning groove set; secondly, under the action of the sliding assembly and the sliding displacement sensor 381, the second clamping assembly 34 slides on the top of the drill rod box to above the drill rod, and then under the driving of the lifting assembly and the joint action of the lifting sensor 382 and the drill rod sensor 383, the second clamping assembly 34 clamps the drill rod to be clamped in the drill rod box; then under the action of the lifting assembly and the lifting sensor 382, the second clamping assembly 34 lifts the drill rod to be clamped to above the partition plate 24; then under the action of the sliding assembly and the sliding displacement sensor 381, the second clamping assembly 34 slides on the top of the drill rod box to above the transfer groove 5; finally, under the action of the lifting assembly and the lifting sensor 382, the second clamping assembly 34 lowers the drill rod to be clamped to above the transfer groove 5 and places the drill rod to be clamped on the transfer disc.

[0077] The working process of the transfer groove 5 is as follows: under the action of the transfer driving member, the transfer disc slides the drill rod to be clamped in the transfer disc away from the sliding assembly.

[0078] The working process of the main manipulator is as follows:

[0079] The main mechanical arm drilling process: initialization state, the main mechanical arm stretches out, the main mechanical arm clamps, retracts, turns 150°, increases the inclination angle, horizontally turns, reduces the inclination angle, stretches out, swings in, loosens, swings out, retracts, turns 90°, the inclination angle of the rotating arm 42 is reduced to vertical, and turns to the initial state.

[0080] Wherein, the initialization state: the turning main shaft 431 is parallel to the transfer groove 5, and the telescopic clamping assembly is located on the side of the transfer groove 5; the main mechanical arm stretches out: the telescopic drive pushes the telescopic inner cylinder 442 to move close to the drill pipe above the transfer groove 5, at this time the signal rod 473 slides in the mounting block 472 under the action of the connecting frame, when the gap at one end of the signal rod 473 away from the connecting frame moves into the support block, the first sensor 481 identifies the gap, so as to stop the extension of the telescopic drive, at this time the first fixed jaw is located directly above the drill pipe;

[0081] The main mechanical arm clamps and retracts: the telescopic drive is started to extend, so that the movable jaw of the first clamping assembly 46 clamps from below the drill pipe, and then the telescopic drive is retracted, when the gap at one end of the signal rod 473 close to the connecting block moves into the support block, the first sensor 481 identifies the gap, so as to stop the retraction of the telescopic drive, ensure that the telescopic drive is retracted in place, avoid the interference between the clamped drill pipe and other parts in the subsequent process, since in the present scheme, the conveying device is arranged on the upper end of the drill pipe box, in order to avoid the interference between the first clamping assembly 46 and the conveying device in the turning process;

[0082] Turn 150°: the turning main shaft 431 drives the telescopic assembly and the first clamping assembly 46 to turn, when the signaling block 484 on the outer wall of the turning main shaft 431 rotates to the front end of the receiver 485, the hydraulic motor stops rotating, at this time the first clamping assembly 46 rotates 150°, and the first clamping assembly 46 is located in the same horizontal plane with the rotating arm 42;

[0083] Increase the inclination angle: then the rotating reducer 41 drives the rotating arm 42 to rotate counterclockwise, when the second arc block in the inner wall of the rotating arm 42 rotates to the front end of the third sensor 483, the rotating reducer 41 stops rotating, at this time the rotating arm 42 rotates counterclockwise 7-10°, and the included angle between the turning main shaft 431 and the ground is greater than the included angle between the rack 6 and the ground;

[0084] Turn 90°: the turning main shaft 431 rotates again, drives the telescopic assembly and the first clamping assembly 46 to rotate 90°, so that the first clamping assembly 46 approaches the drilling machine;

[0085] Horizontal flip, angle reduction: rotate the swing arm 42 clockwise through the swing reducer 41, drive the first clamping assembly 46 to move downward until the swing mounting frame 45 contacts the first sensor 481, the first sensor 481 transmits a signal, and the swing reducer 41 stops rotating. At this time, the first clamping assembly 46 is parallel or close to parallel to the rack 6. Close to parallel means that the inclination angle is in the range of 7-10°. Although the swing reducer 41 can directly drive the flip spindle 431 to rotate to be parallel to the rack 6, there is uncertainty in this process. Specifically, because the distance between the second arc block and the third sensor 483 for detecting the inclination angle of the swing arm 42 is less than the distance between the mounting seat and the line of the swing arm 42 rotation shaft 332, that is, the former swing radius is less than the latter swing radius. In the case of the same swing arc length error, the angle error corresponding to the small swing radius is large. Therefore, only by positioning with the third sensor 483 for detecting the inclination angle of the swing arm 42, the swing error arc length range may cause the flip spindle 431 to be no longer parallel to the rack 6 but inclined, affecting the subsequent connection action of the drill pipe. Therefore, the swing reducer 41 drives the flip spindle 431 to first increase and then decrease the inclination angle, which can ensure that the to-be-clamped drill pipe 25 is parallel to the rack 6.

[0086] Extension: The telescopic drive pushes the first clamping assembly 46 to move backward to the rear holder 61. When the positioning sensor 475 recognizes that the signal rod 473 is away from the gap at one end of the connecting frame, the telescopic drive is extended to the position. At this time, the drill pipe clamped by the first clamping assembly 46 is located directly above the drill pipe loading and unloading cavity.

[0087] Swing in: The telescopic drive rear end is pushed by the swing drive, so that the output end of the telescopic drive swings downward, thereby moving the drill pipe into the rear holder 61. The swing process is shown in Figure 13 During the swing process of the drill pipe, the drill pipe always moves in the radial direction of the rack 6 and does not move in the axial direction of the rack 6.

[0088] Loosen: The telescopic drive is retracted, so that the movable jaw of the first clamping assembly 46 is separated from the fixed jaw, thereby loosening the clamping of the drill pipe, and then completing the transportation of the to-be-clamped drill pipe 25, so that the to-be-clamped drill pipe 25 moves from the drill pipe box to the rear holder 61 of the drilling machine.

[0089] Swing out: The telescopic drive rear end is pushed by the swing drive, so that the output end swings upward.

[0090] Retraction: The telescopic drive pushes the first clamping assembly 46 away from the rear holder 61. When the first sensor 481 recognizes that the signal rod 473 is close to the gap at one end of the connecting frame, the telescopic drive is retracted to the position.

[0091] Turn 90°: the reverse rotation of the main shaft 431 drives the telescopic assembly and the first clamping assembly 46 to rotate 90°, so that the first clamping assembly 46 moves away from the rack 6;

[0092] Inclination reduction to vertical: then the slewing reducer 41 drives the slewing arm 42 to rotate clockwise, when the second arc-shaped block of the outer wall of the slewing arm 42 rotates to the rear end of the third sensor 483, the slewing reducer 41 stops rotating, at this time the slewing arm 42 rotates 7-10° clockwise, at this time the slewing arm 42 is vertical to the ground, and the main shaft 431 is parallel to the ground;

[0093] Turn to initial state: the main shaft 431 rotates again to drive the telescopic assembly and the first clamping assembly 46 to return to the initial state.

[0094] In the above process, the drill rod clamped by the first clamping assembly 46 is swung into the holder by the swing driving member 49 in a posture parallel to the rack 6, which reduces the activity amplitude of the drill rod in the axis direction of the rack 6 during transportation, thereby shortening the length of the drill rod loading and unloading cavity, and further shortening the length of the rack 6, so that the body of the drilling rig is narrower, and further makes the drilling rig more conducive to operation in narrow tunnels, thereby improving the applicability of the drilling rig.

[0095] Drill unloading process: initial state, main manipulator turns 150°, inclination increases, horizontal turning, inclination decreases, extension, swing in, clamping, swing out, retraction, turn 90°, inclination reduction to vertical, turning, main manipulator releases, retraction to initial state

[0096] When the drill rod needs to be disassembled, the process is opposite to the above-mentioned docking process, the first clamping assembly 46 first clamps the drill rod on the drilling rig, and then drives the first clamping assembly 46 to move upward through the swing mechanism, so that the drill rod moves away from the drilling rig, then the slewing reducer 41 drives the slewing arm 42 to rotate counterclockwise, until the second arc-shaped block rotates to the front end of the third sensor 483, so that the first clamping assembly 46 further moves away from the drilling rig, while avoiding interference between the first clamping assembly 46 and the drilling rig in the subsequent rotation, then the main shaft 431 drives the first clamping assembly 46 to rotate away from the drilling rig, until the signaling block 484 rotates to the front end of the receiver 485, at this time the first clamping assembly 46 rotates °, the main shaft 431 stops rotating, then the slewing reducer 41 drives the slewing arm 42 to rotate clockwise, until the first arc-shaped block moves to the second sensor 482, the main shaft 431 is parallel to the transfer groove 5, then the main shaft 431 continues to drive the first clamping assembly 46 to rotate 90°, so that the transfer groove 5 is located below the terminal end of the movement trajectory line of the to-be-clamped drill rod 25 under the driving of the telescopic assembly, finally the first clamping assembly 46 is pushed close to the transfer groove 5 through the telescopic driving member, until the drill rod is located above the transfer groove 5, and then the clamping driving member retracts and places the drill rod on the upper end of the transfer groove 5.

[0097] The above is only an embodiment of the present application, and the specific technical solutions and / or common knowledge of the scheme are not described in detail. It should be pointed out that the technical means for solving the problems in the above embodiments of the present application can be combined to solve multiple technical problems at the same time. For those skilled in the art, without departing from the technical solutions 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. The scope of protection claimed by the present application should be subject to the content of its claims, and the specific embodiments described in the specification can be used to explain the content of the claims.

Claims

1. A drill rod loading and unloading system for a narrow machine body automatic drilling machine, comprising a machine frame, a drill rod box and a drill rod transfer mechanism, the machine frame being provided with a gripper and a driving drill rod, the drill rod transfer mechanism comprising a secondary manipulator for transferring the drill rod between the drill rod box and a transfer groove and a primary manipulator for transferring the drill rod between the machine frame and the secondary manipulator and achieving drill rod dismounting and mounting, the primary manipulator comprising, in sequence, a slewing reducer, a slewing arm, a turnover assembly and a first gripping assembly, characterized in that: The auxiliary manipulator is slidingly arranged on the top of the drill pipe box, and the main manipulator further comprises a swing assembly, the first clamping assembly is rotatably connected with the turnover assembly through the swing assembly, and after the to-be-clamped drill pipe is transferred to above the drilling rig rack and parallel to the rack through cooperation of the rotary speed reducer and the turnover assembly, the first clamping assembly is driven to rotate by the swing assembly to swing the to-be-clamped drill pipe into the clamp.

2. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 1, wherein: The swing assembly comprises a swing driving member and a swing mounting bracket, the swing mounting bracket is connected with the turnover assembly, the first clamping assembly is hingedly connected with the swing mounting bracket through the swing driving member, and the first clamping assembly can rotate around the swing mounting bracket under the action of the swing driving member.

3. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 2, wherein: The first positioning assembly comprises a first sensor fixed on the outer wall of the rack for judging whether the grabbing device is parallel to the rack, a second sensor fixed on the rack for judging a first rotation angle of the rotary arm, and a third sensor fixed on the rack for judging a second rotation angle of the rotary arm; when the swing mounting bracket triggers the first sensor, the drill pipe is parallel to the rack; when the second sensor triggers, the rotary arm reaches the inclination angle of the first clamping assembly for clamping or returning the drill pipe; and when the third sensor triggers, the rotary arm reaches the turnover inclination angle of the turnover assembly.

4. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 3, wherein: The turnover mechanism comprises a turnover driving member and a turnover main shaft, the turnover driving member is fixedly arranged on the rotary arm, the turnover main shaft is rotatably arranged on the rotary arm and fixedly connected with the output shaft of the turnover driving member, the first clamping assembly comprises a telescopic mechanism and a clamping mechanism, the clamping mechanism is connected with the turnover mechanism through the telescopic mechanism, the telescopic mechanism is hingedly connected with the swing mounting bracket through the swing driving member, and the telescopic mechanism can rotate around the swing mounting bracket to drive the clamping mechanism to rotate.

5. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 4, wherein: The rotary arm is fixedly provided with a positioning sleeve, an inner boss is fixedly arranged on the inner wall of the positioning sleeve, and an outer boss is fixedly arranged on the outer arm of the main shaft; the outer boss rotates to the limit position with the main shaft and abuts against the inner boss.

6. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 5, wherein: The telescopic mechanism comprises a telescopic outer cylinder, a telescopic inner cylinder and a telescopic driving member, the telescopic outer cylinder is rotatably arranged on the swing mounting bracket, the telescopic inner cylinder is slidingly arranged in the telescopic outer cylinder, the telescopic driving member is fixedly connected with the telescopic inner cylinder and the telescopic outer cylinder at two ends respectively, and the clamping mechanism is fixedly arranged on the free end of the telescopic inner cylinder; the first positioning assembly further comprises a telescopic positioning assembly for detecting the limit position of the telescopic inner cylinder in extension and retraction, the telescopic positioning assembly comprises a protective cover, a signal rod, a connecting frame and a proximity switch, the protective cover is fixedly connected with the telescopic outer cylinder, the proximity switch is mounted on the protective cover, the signal rod is slidingly connected with the protective cover, one end of the signal rod is connected with the clamping mechanism through the connecting frame, and both ends of the signal rod are provided with notches; when the notches are close to the proximity switch, the signal changes.

7. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 6, wherein: The swing mounting bracket comprises a connecting plate and two L-shaped side plates, the two side plates are connected through the connecting plate, the connecting plate is in contact with the sensor arranged on the rack when the drill pipe is parallel to the rack, the side plate close to the turnover mechanism is connected with the turnover mechanism, the clamping mechanism is hingedly connected with the connecting plate through the swing driving member, and the clamping mechanism can rotate around the side plate.

8. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 7, wherein: When the drill rod is installed, the overturning mechanism drives the clamping mechanism to overturn by a certain angle, then drives the overturning mechanism to increase the inclination angle until it is greater than the inclination angle of the rack, then the overturning mechanism drives the clamping mechanism to transfer the to-be-installed drill rod to the top of the drilling rig rack, the rotary speed reducer drives the overturning mechanism to reduce the inclination angle until the overturning mechanism is parallel to the rack, then the swinging mechanism drives the clamping mechanism to swing the to-be-installed drill rod into the holder.

9. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 8, wherein: The clamping mechanism comprises a fixed claw, a movable claw and a clamping driving part, the fixed claw is fixedly arranged at the free end of the telescopic inner cylinder, the movable claw is hinged to the fixed claw, and the clamping driving part is arranged on the fixed claw and can drive the movable claw to rotate.

10. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 9, wherein: The telescopic driving part, the swinging driving part and the clamping driving part are all telescopic driving parts.

11. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 10, wherein: The telescopic driving part is an oil cylinder.

12. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 11, wherein: The first sensor, the second sensor and the third sensor are all proximity switches.

13. A drill rod handling system for a narrow-body automatic drill rig as defined in any one of claims 1-12, characterized in that: The auxiliary manipulator comprises a sliding assembly, a telescopic clamping assembly and a second positioning assembly, the sliding assembly is arranged on the top of the drill rod box, the telescopic clamping assembly slides on the top of the drill rod box under the action of the sliding assembly and the second positioning assembly and transports the drill rod between the drill rod box and the main manipulator, and the drill rod transfer mechanism further comprises a transfer groove, the transportation between the auxiliary manipulator and the main manipulator is conducted through the transfer groove, and the transfer groove is slidably arranged on the rack and can drive the drill rod to move away from the sliding assembly.

14. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 13, wherein: The sliding assembly comprises a sliding seat, a sliding rail and a sliding driving part, the sliding seat is slidably arranged on the sliding rail, the sliding rail is fixedly arranged on the top of the drill rod box, and the sliding driving part is fixedly arranged on the sliding seat and can drive the sliding seat to reciprocate.

15. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 14, wherein: The lifting clamping assembly comprises a lifting assembly and a clamping assembly, the lifting assembly comprises a mounting cylinder, a first lifting cylinder, a second lifting cylinder, a first lifting driving part and a second lifting driving part, the mounting cylinder is rotatably arranged on the sliding table, the first lifting cylinder is slidably arranged in the mounting cylinder, the second lifting cylinder is slidably arranged in the first lifting cylinder, the first lifting driving part is fixedly arranged between the mounting cylinder and the first lifting cylinder and can drive the first lifting cylinder to slide relative to the mounting cylinder, the second lifting driving part is arranged between the first telescopic cylinder and the second telescopic cylinder and can drive the first lifting cylinder and the second lifting cylinder to slide relative to each other, and the second clamping assembly is fixedly arranged at the free end of the second lifting cylinder.

16. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 15, wherein: The second positioning assembly comprises a lifting sensor for determining the vertical lifting displacement between the second lifting cylinder and the mounting cylinder, a sliding sensor for determining the horizontal displacement of the sliding seat and a drill rod sensor for judging whether the clamping assembly is in contact with the drill rod, the lifting sensor is fixedly arranged on the second lifting cylinder or the mounting cylinder, the sliding sensor is fixedly arranged on the sliding seat or the sliding rail, and the drill rod sensor is fixedly arranged on the clamping assembly.

17. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 16, wherein: The lifting sensor and the sliding sensor are one of a wire-drawn displacement sensor or a magnetic displacement sensor, and the drill rod sensor is a proximity switch.

18. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 17, wherein: The sliding driving part is a hydraulic motor, and the first lifting driving part and the second lifting driving part are both oil cylinders.

19. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 18, wherein: The output shaft of the second lifting driving part is fixedly connected with the first lifting cylinder, and the second driving part is fixedly arranged in the second lifting cylinder and is fixedly connected with the first lifting cylinder through the output shaft.

20. A drill rod handling system for a narrow-body automatic drill rig as defined in claim 1, wherein: The carrying platform further comprises a carrying platform body and an anchoring mechanism, the carrying platform body is a caterpillar truck, and the anchoring mechanism comprises an anchoring oil cylinder, the width of the anchoring oil cylinder does not exceed the width of the caterpillar truck.

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