Full-section drilling machine with drill rod conveying system

Abstract

The utility model belongs to the field of mining drilling machines, and relates to a full-section drilling machine with a drilling rod conveying system, which comprises a moving platform, a drilling rod box, an auxiliary manipulator, a posture adjusting device, a drilling rod transporter, a main manipulator and a rack, and the posture adjusting device comprises a revolving platform, a lifting sleeve, a transporter gyrator and a dip angle gyrator. The rotating platform serves as a carrier of the posture adjusting device and is rotationally connected to the movable platform, the lifting sleeve is vertically installed on the rotating platform in a lifting mode, the transporter gyrator and the dip angle gyrator are both installed on the lifting sleeve, and the transporter gyrator and the dip angle gyrator are installed on the lifting sleeve. The dip angle gyrator and the transporter gyrator are both located on the side, away from the drill rod box, of the lifting sleeve. The drill rod transporter is arranged at the top of the transporter gyrator, and the dip angle of the drill rod transporter is adjusted through the transporter gyrator; the machine frame is arranged on the side, away from the lifting sleeve, of the dip angle gyrator in a side hanging mode, and the main mechanical arm is installed on the machine frame and rotates along with the machine frame.

Description

Technical Field

[0001] This utility model belongs to the field of mining drilling rigs and relates to a full-section drilling rig with a drill rod conveying system. Background Technology

[0002] Under the strategic framework of intelligent coal mining, drilling automation has become a key approach to achieving less-manned and unmanned underground operations. Traditional manual operation methods are limited by the complex underground environment and personnel fatigue, making it difficult to meet the dual demands of efficient mining and inherent safety in modern coal mines. Automation technology, on the other hand, can automate the drilling process and auxiliary procedures, significantly reducing labor intensity, improving safety, and breaking through the efficiency bottleneck of manual operation, thus becoming an inevitable choice for technological upgrading in the coal industry.

[0003] After nearly 10 years of development, automated drilling rig technology has become increasingly mature, achieving fully automated operation in loading and unloading drill rods, drilling, and attitude adjustment. It has been widely applied in disaster prevention and control projects such as gas extraction and water exploration. However, most automated drilling rigs currently used in the industry employ a three-stage drill rod conveying system (CN201911185745.9) consisting of dual robotic arms combined with a translational transfer device. Existing automated drilling rigs have the following main shortcomings:

[0004] (1) The range of borehole inclination angle is limited.

[0005] Due to the spatial relationship between the drill pipe loading / unloading robot and the tracked platform, it cannot meet the requirements for drilling at large negative inclination angles. When drilling at large positive inclination angles, the frame needs to be raised to a relatively high height, which generally limits the operation to tunnels with larger cross-sections.

[0006] (2) The opening height is relatively high

[0007] Due to the limitations of the drill pipe conveying principle of the drill pipe loading and unloading system, the height of the drilling host (mainly referring to the power head and frame) must be adapted to the drill pipe conveying route, resulting in a relatively high opening height.

[0008] (3) It is difficult to achieve four-corner anchoring.

[0009] Anchoring is an important measure to ensure the stability of the drilling rig during drilling. However, due to the limitations of existing technology in terms of the space required for the retraction platform, tracked vehicle, and manipulator's movement and relative position, it is usually only possible to use the two anchoring components at the rear of the drilling rig. It is difficult to use the two anchoring components at the front of the drilling rig, resulting in poor stability of the rig body during drilling, which affects drilling efficiency and safety.

[0010] Therefore, there is a need for an automated drilling rig that can be used in a wider range of inclination angles and with a lower drilling height, so as to improve the application scope of automated drilling rigs and give full play to their role in reducing manpower, improving efficiency and increasing safety in mine safety engineering. Utility Model Content

[0011] In view of this, the purpose of this utility model is to provide a full-section drilling machine with a drill rod conveying system to solve the problems of the limited drilling inclination range of existing automatic drilling machines, which cannot perform large negative inclination drilling and require excessive height for large positive inclination drilling.

[0012] To achieve the above objectives, this utility model provides the following technical solution:

[0013] A full-face drilling rig with a drill pipe conveying system includes a mobile platform, a drill pipe box, a secondary manipulator, an attitude adjustment device, a drill pipe transfer device, a main manipulator, and a frame. The drill pipe box and the attitude adjustment device are both mounted on the mobile platform, with the attitude adjustment device located on one side of the drill pipe box. The secondary manipulator is used to transfer the drill pipe in the drill pipe box to the drill pipe transfer device, and the main manipulator is used to transfer the drill pipe in the drill pipe transfer device to the frame.

[0014] The attitude adjustment device includes a rotary platform, a lifting sleeve, a transferor rotator, and an angle rotator. The rotary platform serves as the carrier of the attitude adjustment device and is rotatably connected to the mobile platform. The lifting sleeve is vertically and vertically mounted on the rotary platform. The transferor rotator and the angle rotator are both mounted on the lifting sleeve, and both the angle rotator and the transferor rotator are located on the side of the lifting sleeve away from the drill pipe box.

[0015] The drill pipe transfer device is arranged on top of the transfer device rotary device, and the tilt angle of the drill pipe transfer device is adjusted by the transfer device rotary device.

[0016] The frame is mounted on the side of the tilting gyroscope away from the lifting sleeve, and the tilt angle of the frame is adjusted by the tilting gyroscope. The main manipulator is mounted on the frame and rotates with the frame.

[0017] Furthermore, the auxiliary manipulator is slidably connected to the drill pipe box via an auxiliary slide rail arranged on the drill pipe box. It includes a lifting joint, an auxiliary rotating joint, an auxiliary telescopic joint, and an auxiliary gripper connected in sequence. The end of the lifting joint away from the auxiliary gripper is connected to the auxiliary slide rail, and the auxiliary telescopic joint and the auxiliary gripper are arranged facing the inside of the drill pipe box.

[0018] The secondary rotary joint and the lifting joint are connected by a crossbeam; the secondary rotary joint includes a secondary rotary shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the secondary rotary shaft. When the secondary rotary shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the secondary rotary shaft.

[0019] Furthermore, the end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam.

[0020] Furthermore, the lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder. The lifting outer cylinder is sleeved and installed with the lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement. The lifting cylinder drives the lifting pair to perform lifting movement.

[0021] The secondary rotary joint also includes a secondary rotary actuator connected to the crossbeam. The secondary rotary actuator is connected to the secondary rotary shaft to drive the rotation of the secondary rotary shaft.

[0022] Furthermore, the end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. When the secondary rotating shaft rotates, it causes the secondary telescopic joint and the secondary gripper to swing.

[0023] Furthermore, the secondary telescopic joint includes a secondary outer cylinder and a secondary inner cylinder, wherein the secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic joint for telescopic movement;

[0024] And a secondary telescopic cylinder connected to the secondary rotating shaft, the secondary telescopic cylinder being connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

[0025] Furthermore, a secondary clamping cylinder is connected to the side of the secondary gripper near the telescopic unit. Driven by the secondary clamping cylinder, the secondary gripper clamps or releases.

[0026] Furthermore, the main manipulator includes a main rotary joint, a main telescopic joint, and a main gripper assembly;

[0027] The main rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the main rotating shaft to rotate. The main rotating shaft passes through the rotating seat and is connected to the main telescopic joint.

[0028] The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

[0029] Furthermore, the main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder, and a main telescopic cylinder. The main outer cylinder is detachably connected to the main rotating shaft via a flange. The main inner cylinder is slidably connected inside the main outer cylinder. The main gripper assembly is connected to the bottom of the main inner cylinder. The main telescopic cylinder is fixed to the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

[0030] Furthermore, the main gripper assembly includes a main gripper and a main clamping cylinder. The main clamping cylinder is fixed to the lower part of the main inner cylinder, and the main gripper is fixed to the main clamping cylinder and clamps or releases under the drive of the main clamping cylinder.

[0031] Furthermore, it also includes a sliding joint, which includes a fixed seat, a connecting arm, and a sliding cylinder. The fixed seat is connected to the frame and is provided with a horizontally arranged main slide rail. The bottom of the connecting arm is provided with a sliding groove, which cooperates with the main slide rail. The rotating seat in the main rotating joint is fixedly connected to the connecting arm.

[0032] One end of the sliding cylinder is fixed to the fixed base, and the other end is connected to the connecting arm so that the connecting arm slides along the track.

[0033] Furthermore, the drill pipe transfer device includes a base plate, a support block, a pressure plate, and an axial clamping block; the support block is disposed on the base plate for supporting the drill pipe; the axial clamping block is disposed on the base plate and located on both sides of the support block; a pressure plate is rotatably connected to the upper part of the axial clamping block, and the pressure plate is located above the support block; the axial clamping block clamps and fixes the drill pipe axially upwards; the axial clamping block includes at least one slider slidably disposed on the base plate; the pressure plate presses the drill pipe onto the support block.

[0034] Furthermore, a sliding cylinder is provided at the bottom of the base plate, and the sliding cylinder is connected to the slider to drive the slider to slide along the length direction of the base plate.

[0035] Furthermore, the axial clamping block is rotatably connected to the pressure plate. When the drill rod transfer device is in a state of waiting to load or remove the drill rod, the pressure plate rotates upward to open, facilitating the loading or removal of the drill rod.

[0036] Furthermore, the pressure plate is also provided with a clamping cylinder to drive the rotation of the pressure plate; the clamping cylinder is located on the outside of the two axial clamping blocks and is hinged to the upper part of the axial clamping blocks.

[0037] Furthermore, at least two support blocks are provided, and each support block has a groove on its upper part that matches the outer diameter of the drill rod.

[0038] Furthermore, it also includes an azimuth rotator, which is mounted on the mobile platform and connected to the rotary platform, for rotating the rotary platform onto the mobile platform of the drilling rig.

[0039] Furthermore, it also includes a lower anchoring assembly, which is installed on one side of the rotating platform for contact with the ground and to support the attitude adjustment device.

[0040] Furthermore, the main body of the rotary platform is a rotary plate, and one side of the rotary plate is provided with a lower anchor mounting plate and a lug for connecting the lower anchoring assembly and the lifting cylinder, respectively.

[0041] Furthermore, the other end of the lifting cylinder is connected to a lifting sleeve to drive the lifting sleeve to move vertically up and down.

[0042] Furthermore, it also includes a lifting column, which is installed on top of the lower anchoring assembly or is manufactured integrally with the lower anchoring assembly, and is used to guide the vertical lifting and lowering of the lifting sleeve.

[0043] Furthermore, it also includes an upper anchorage and an upper anchorage assembly;

[0044] The upper anchoring seat includes a fixed cylinder fixedly sleeved on the lifting column and a column head connected to the outside of the fixed cylinder;

[0045] The upper anchoring assembly is installed on the column head for contact with the roadway top support.

[0046] Furthermore, the lifting sleeve includes a lifting sleeve cavity, a sleeve, and a connecting sleeve;

[0047] The lifting sleeve cavity is formed by two front and rear side plates and a top sealing plate, and is configured to accommodate the lifting cylinder.

[0048] The sleeve is fixedly installed on the left and right sides of the lifting sleeve cavity, serving as a guide for movement along the lifting column;

[0049] The connecting cylinder is fixedly installed on the side of the lifting sleeve cavity facing the frame, and a flange for installing the rotary transition plate is provided on it.

[0050] Furthermore, the rotary transition plate is disk-shaped and includes:

[0051] The first transition plate flange is configured to connect to the connecting cylinder;

[0052] The second transition plate flange is configured to connect to the frame connection plate; and

[0053] The third transition plate flange is configured to connect to the rotary unit of the transfer device.

[0054] Furthermore, the transferor rotary includes:

[0055] A retaining ring is connected to the third transition plate flange of the rotary transition plate; and

[0056] The rotating ring is connected to the drill pipe transfer device, and its inclination angle is adjusted.

[0057] Furthermore, the frame connecting plate is disc-shaped and includes:

[0058] A first flange, configured to connect to a second transition plate flange of the rotary transition plate; and

[0059] The second flange is configured to connect to the tilt slewing device.

[0060] Furthermore, the tilt gyroscope includes:

[0061] A retaining ring is connected to the second flange of the frame connecting plate; and

[0062] A rotating ring, fixedly connected to the frame, is configured to adjust the tilt angle of the frame;

[0063] Furthermore, the frame is mounted on the tilting rotary device.

[0064] Furthermore, the retaining ring of the transferor rotator is directly installed on the lifting sleeve, and the retaining ring of the tilting rotator is installed on the retaining ring of the transferor rotator.

[0065] Furthermore, the retaining ring of the tilting rotator is directly installed on the lifting sleeve, and the retaining ring of the transfer device rotator is installed on the retaining ring of the tilting rotator.

[0066] The beneficial effects of this utility model are as follows:

[0067] (1) This utility model uses two independent rotary heads to drive the drill pipe transfer device and the frame to rotate respectively. With the side-mounted installation of the frame, the drill pipe transfer device can be adjusted in a wide range of tilt angles in the vertical plane.

[0068] Expanding the Drilling Inclination Range. Existing drill pipe transfer devices, due to design flaws, can only move in the horizontal plane, limiting the drilling inclination range of automatic drilling rigs and hindering their expansion into large-angle drilling conditions. The adjustable-inclination drill pipe transfer mechanism of this invention achieves asynchronous rotation adjustment of the inclination angle between the frame and the transfer device through an asynchronous rotation device. The inclination angle rotator adjusts the inclination angle of the frame, and the transfer device rotator adjusts the inclination angle of the transfer device. These two mechanisms work together to enable the transfer device to perform a wide range of inclination angle adjustments in the vertical plane. This allows the automatic drilling rig to adapt to drilling requirements at larger inclination angles, breaking through previous technical limitations, meeting drilling operations under more complex geological conditions, and broadening the application scenarios of automatic drilling rigs.

[0069] To avoid component interference and achieve drilling at large negative inclination angles, this invention addresses the problem of improperly positioned drill pipe transporters, robotic arms, and frames in existing technologies. Interference occurs when the robotic arm adjusts the drill pipe transport angle, especially under negative inclination angle conditions, preventing existing automatic drilling rigs from performing such drilling. The invention's optimized attitude adjustment device effectively avoids this issue. Through the sequential connection of components such as the inclination rotator, frame connecting plate, slewing transition plate, and lifting sleeve, the drill pipe transporter and frame can be independently adjusted for inclination angle. Under negative inclination angle conditions, the transporter can be adjusted to the appropriate angle as needed without interfering with other components on the slewing platform, thus enabling drilling at large negative inclination angles and further enhancing the operational capabilities of automatic drilling rigs.

[0070] This invention enhances automation and intelligence. It makes the drilling process more automated, and combined with automated drilling technology, enables fully automatic operation of drill rod loading and unloading, drilling, and attitude adjustment. This further reduces labor intensity, improves operational safety and efficiency, and provides strong support for the intelligent construction of coal mines.

[0071] (2) This technical solution combines the integrated design of the anchoring components and the attitude adjustment device with the side-mounted installation on the frame, ensuring that the drilling rig can achieve full four-corner anchoring during azimuth adjustment. Traditional drilling rigs have difficulty achieving four-corner anchoring in certain positions, leading to instability of the rig body during drilling and posing safety hazards. This solution, by optimizing the structural layout, makes four-corner anchoring possible, significantly improving the stability of the drilling rig. This enhanced stability not only reduces operational risks but also provides reliable protection for safe construction in complex environments, fully demonstrating the dual advantages of the technical solution in terms of performance and safety.

[0072] (3) This utility model integrates most of the functions of the main manipulator by connecting the main rotary joint and the main telescopic joint and integrating them with the frame, keeping their tilt angles consistent, simplifying the manipulator's movements and reducing the possibility of interference with other components. The main rotary joint can satisfy the rotation of the main manipulator at a certain angle, meaning that any drill rod within this angle range can be grasped by the main manipulator; in addition, combined with the telescopic effect of the main telescopic joint, the grasping range of the main manipulator is further expanded within the original rotation angle range, thus achieving wider applicability.

[0073] (4) By setting a secondary rotary joint with a limited angle, the secondary manipulator's swing function in the vertical plane is realized. This allows the secondary manipulator to transport drill pipe over components such as the attitude adjustment device, thus allowing the drill pipe transfer device to be positioned on the opposite side of the drill pipe box on the attitude adjustment device. This improvement significantly enhances the flexibility of the drill pipe transport system layout suitable for full-face drilling, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements. Because the secondary manipulator can swing in the vertical plane, the drilling rig is no longer limited to the traditional manipulator's linear up-and-down movement when drilling full-face, full-angle ranges. This greatly increases the drilling angle range of the drilling rig, improving its adaptability and operational efficiency.

[0074] (5) The drill rod is secured during transport by clamping both ends and pressing the top, thus preventing it from falling during inclination adjustment. This facilitates drill rod loading and unloading: When the drill rod transporter is in the state of loading or unloading (other clamping mechanisms have already secured the drill rod), the pressing cylinder drives the pressure plate to rotate and open upwards, and the sliding cylinder drives the slider to move outwards, expanding the internal space of the transporter and reducing obstruction during loading and unloading. It enhances drill rod stability: By clamping both ends of the drill rod with sliders and pressing the top with a pressure plate, the drill rod is secured from multiple directions, greatly enhancing its stability during transport and effectively preventing problems caused by shaking, shifting, or even falling during transport. It adapts to large inclination angles: The above-mentioned fixing method ensures the drill rod remains stable under large inclination angles, preventing it from falling during inclination adjustment and expanding the application range and adaptability of the automatic drilling machine.

[0075] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0076] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0077] Figure 1 This is an isometric view of a full-section drilling rig with a drill pipe delivery system in an embodiment.

[0078] Figure 2 This is an isometric view of the secondary manipulator in the embodiment;

[0079] Figure 3 This is a front view of the auxiliary robotic arm in the embodiment;

[0080] Figure 4for Figure 3 A partial sectional view of the middle-arm robotic arm (AA section).

[0081] Figure 5 This is an isometric view of the rotary platform in the embodiment;

[0082] Figure 6 This is an isometric view of the attitude adjustment device in the embodiment;

[0083] Figure 7 This is a cross-sectional view of the attitude adjustment device in the embodiment;

[0084] Figure 8 This is an isometric view of the lifting sleeve in the embodiment;

[0085] Figure 9 This is an isometric view of the upper anchorage in the embodiment;

[0086] Figure 10 This is an isometric view of the drill pipe transfer device in the embodiment;

[0087] Figure 11 This is a front view of the drill pipe transfer device in the embodiment;

[0088] Figure 12 This is a schematic diagram of the assembly of the main robotic arm in the embodiment;

[0089] Figure 13 This is a front view of the main robotic arm in the embodiment;

[0090] Figure 14 This is a side view of the main robotic arm in the embodiment.

[0091] Reference numerals: 1. Mobile platform; 2. Hydraulic system; 3. Electrical control system; 4. Anchoring system; 5. Drill rod box; 6. Secondary manipulator; 7. Attitude adjustment device; 8. Drill rod transfer device; 9. Main manipulator; 10. Power head; 11. Frame; 12. Clamp; 13. Drill rod to be transferred; 14.

[0092] Sub-manipulator 6: Lifting cylinder 601, lifting outer cylinder 602, crossbeam 603, sub-rotation driver 604, sub-rotation shaft 605, sub-telescopic cylinder 606, sub-outer cylinder 607, sub-inner cylinder 608, sub-gripper 609, sub-clamping cylinder 610;

[0093] Attitude adjustment device 7: azimuth angle rotator 701, rotator platform 702, rotator plate 70201, lower anchor mounting plate 70202, lug 70203, lower anchor assembly 703, lifting column 704, lifting sleeve 705, lifting sleeve cavity 70501, sleeve 70502, connecting cylinder 70503, lifting cylinder 706, upper anchor seat 707, column head 70701, fixing cylinder 70702, upper anchor assembly 708, transfer device rotator 709, tilt angle rotator 710, rotator transition plate 712, frame connecting plate 713, rotation positioning sensor group 714;

[0094] Drill pipe transfer device 8: base plate 801, support block 802, pressure plate 803, clamping cylinder 804, slider 805, sliding cylinder 806;

[0095] Main robotic arm 9: fixed base 901, main rotation driver 902, rotating base 903, rotation sensor 904, rotation sensor mounting base 90401, rotation sensor body 90402, trigger ring 90403, main rotation shaft 905, main telescopic cylinder 906, main outer cylinder 907, main inner cylinder 908, main clamping cylinder 909, main gripper 910, connecting arm 911, sliding cylinder 912. Detailed Implementation

[0096] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0097] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0098] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0099] Example 1

[0100] Please see Figure 1 The diagram shows an overall schematic of a full-face drilling rig with a drill pipe conveying system, including a mobile platform 1, a hydraulic system 2, an electrical control system 3, an anchoring system 4, a drill pipe box 5, a secondary manipulator 6, an attitude adjustment device 7, a drill pipe transfer device 8, a main manipulator 9, a power head 10, a frame 11, and a clamping device 12.

[0101] The mobile platform 1 is used to carry other components and also has a moving function; the hydraulic system 2 is installed on the mobile platform 1 and serves as the power system for the drilling rig, driven by an electric motor and outputting hydraulic power; the electrical control system 3 is installed on the mobile platform 1 and includes a controller and its supporting functional modules, human-machine interaction system, etc., used to control the drilling rig to perform automated operations.

[0102] The key components of this embodiment are the attitude adjustment device 7, the drill rod box 5, the auxiliary manipulator 6, the drill rod transfer device 8, and the main manipulator 9. The drill rod box 5 and the attitude adjustment device 7 are both installed on the mobile platform 1, and the attitude adjustment device 7 is located on one side of the drill rod box 5. The auxiliary manipulator 6 is used to transfer the drill rod in the drill rod box 5 to the drill rod transfer device 8, and the main manipulator 9 is used to transfer the drill rod in the drill rod transfer device 8 to the frame 11.

[0103] Please see Figures 2 to 4 The diagram shows the structure of the auxiliary manipulator 6, which is mounted on the auxiliary slide rail of the drill pipe box 5. It includes a lifting joint, a secondary rotating joint, a secondary telescopic joint, and a secondary gripper 609 connected in sequence. The end of the lifting joint away from the secondary gripper 609 is connected to the auxiliary slide rail. The secondary telescopic joint and the secondary gripper 609 are positioned facing inwards towards the drill pipe box. In some embodiments, the auxiliary manipulator 6 of this invention performs the gripping and transport of drill pipes.

[0104] The lifting joint and the rotating joint are connected by a crossbeam 603. In some embodiments of the present invention, the secondary slide rail is horizontally arranged, the lifting joint is vertically mounted on the secondary slide rail, the end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam 603, and the rotating joint is connected to the side of the crossbeam 603. Specifically, the drill pipe box 5 is also provided with a drive device (such as a hydraulic cylinder) for driving the secondary manipulator 6 to move along the secondary slide rail.

[0105] Please see again Figures 5 to 9 The diagram shows the structure of the attitude adjustment device 7. The device includes a rotary platform 702, a lifting sleeve 705, a lower anchoring assembly 703, a transferor rotator 709, and an inclination rotator 710. The rotary platform 702 serves as the carrier of the attitude adjustment device and is rotatably mounted on the moving platform 1 via the azimuth rotator 701. The lifting sleeve 705 is vertically and vertically mounted on the rotary platform 702. Both the transferor rotator and the inclination rotator are mounted on the lifting sleeve, and both are located on the side of the lifting sleeve away from the drill pipe box 5. The lower anchoring assembly 703 is mounted on one side of the rotary platform 702 and is used to contact the ground to support the attitude adjustment device 7.

[0106] The attitude adjustment device 7 uses a rotary platform 702 as its core carrier. The main body of the rotary platform 702 is a rotary flat plate 70201, which is mounted on the moving platform of the drilling rig via an azimuth rotator 701. The azimuth rotator 701 adopts a worm gear rotary reducer design, with the fixed ring (inner ring) fixed to the moving platform and the rotating ring (outer ring) connected to the rotary platform 702, and is used to adjust the azimuth angle of the attitude adjustment device 7.

[0107] Please see again Figures 10 to 11 The diagram shows the structure of the drill pipe transfer device 8, which is arranged on top of the transfer device rotary device 709 and whose tilt angle can be adjusted by the transfer device rotary device 709.

[0108] The drill pipe transfer device 8 includes a base plate 801, a support block 802, a pressure plate 803, a clamping cylinder 804, an axial clamping block, and a sliding cylinder 806. The base plate 801 is the main load-bearing and connecting component of the drill pipe transfer device 8, providing the mounting foundation for all parts of the device. Components such as the support block 802, the axial clamping block, and the sliding cylinder 806 are directly or indirectly mounted on the base plate 801, ensuring the integrity and stability of the drill pipe transfer device 8 structure and enabling all components to work collaboratively to complete the transfer and fixing of the drill pipe.

[0109] At least two support blocks 802 are disposed on the base plate 801. The upper part of the support block 802 is provided with a groove matching the outer diameter of the drill rod for supporting the drill rod. In some embodiments of the present invention, two support blocks 802 are preferred. When the drill rod is placed into the drill rod transfer device 8, the drill rod can be stably placed in the groove of the support block 802. The support block 802 bears the main weight of the drill rod, providing reliable support for the drill rod and ensuring that the drill rod will not sink or shake due to its own weight during the transfer process. Axial clamping blocks are disposed on the base plate 801 and located on both sides of the support blocks 802. The axial clamping blocks press and fix the drill rod axially upwards. The axial clamping blocks include at least one slider 805 slidably disposed on the base plate 801. In some embodiments of this utility model, one of the axial clamping blocks on both sides of the support block 802 is a fixed block, and the other is a slider 805. By sliding the slider 805 on one side on the base plate 801, the internal space can be expanded when placing and removing the drill rod, or the drill rod can be pressed against the fixed block on the other side. In other embodiments of this utility model, both axial clamping blocks are sliders 805. A pressure plate 803 and a clamping cylinder 804 are hinged to the upper part of the axial clamping block, wherein the pressure plate 803 is located above the support block 802 and is rotatably connected to the upper part of the axial clamping block. The clamping cylinder 804 is located outside the two axial clamping blocks. The clamping cylinder 804 drives the pressure plate 803, serving as the power source for its rotation. Through the telescopic movement of the clamping cylinder 804, power is transmitted to the pressure plate 803, causing it to rotate along a predetermined trajectory, thus clamping or releasing the drill rod until it is pressed firmly against the support block 802. The pressure plate 803 applies pressure to the drill rod from the top, further restricting its vertical and horizontal movement, enhancing its stability, and preventing it from falling during transport. Precise control of the clamping cylinder 804 ensures that the pressure plate 803 applies appropriate pressure to the drill rod, preventing both insufficient pressure (failing to effectively fix the drill rod) and excessive pressure (damaging the drill rod).

[0110] A sliding cylinder 806 is provided at the bottom of the base plate 801. The sliding cylinder 806 is connected to the slider 805 and is the power device that drives the slider 805 to slide along the length of the base plate 801. Driving the slider 805 to slide towards the center along the length of the base plate 801 causes the slider 805 to clamp the drill rod, restricting the axial movement of the drill rod. Together with the support block 802 and the pressure plate 803, it forms a multi-directional fixation of the drill rod. The stable operation of the sliding cylinder 806 can accurately control the position and moving speed of the slider 805, ensuring the smooth loading, unloading and fixing of the drill rod, and guaranteeing the stability of the drill rod during transportation.

[0111] When the drill pipe transferor 8 is in the state of waiting to load or remove drill pipes (other clamping mechanisms have already clamped the drill pipes), the clamping cylinder 804 drives the pressure plate 803, causing the pressure plate 803 to rotate and open upwards. The sliding cylinder 806 drives the slider 805 to move outwards, expanding the internal space to facilitate the loading or removal of drill pipes. After the drill pipe is loaded or removed, the clamping cylinder 804 drives the pressure plate 803 to rotate back to the clamping position. When the drill pipe is placed inside the drill pipe transferor 8, and the drill pipe transferor 8 needs to rotate or move, the clamping cylinder 804 drives the pressure plate 803 to clamp the drill pipe, and the sliding cylinder 806 drives the slider 805 to move towards the center, keeping the internal drill pipe stable and preventing it from falling out.

[0112] according to Figures 12 to 14 The diagram shows the structure of the frame 11 and the main manipulator 9. The frame 11 is mounted on the side of the tilt rotator 710 away from the lifting sleeve 705, and the tilt angle of the frame is adjusted by the tilt rotator 710. The main manipulator 9 is mounted on the frame 11 and rotates with the frame 11. Specifically, the frame 11 is also equipped with a power head 10 and a clamping device 12 for driving and clamping the drill rod for drilling or retracting.

[0113] The main manipulator 9 includes a main rotary joint, a main telescopic joint, and a main gripper assembly. The main rotary joint includes a rotary seat 903 and a main rotary actuator 902. The main rotary actuator 902 is located at one end of the rotary seat 903 and drives the main rotary shaft 905 to rotate. The main rotary shaft 905 passes through the rotary seat 903 and is connected to the main telescopic joint.

[0114] The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

[0115] Specifically, the basic workflow of the full-face drilling rig with a drill pipe delivery system provided by this invention is as follows:

[0116] (1) Rod advance condition

[0117] 1) Initial state: Assume the tilt angle of the frame 11 and the main manipulator 9 is α; the drill pipe transfer device 8 is in a horizontal position, the slider 805 expands to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 is retracted, the rotary joint is in the state of completing the first stage of rotation, the sliding joint is retracted, and the gripper is open; the auxiliary manipulator 6 is located at any position on the slide rail of the drill pipe box 5, the lifting joint and telescopic joint prevent the auxiliary gripper from interfering with the drill pipe box 5 and the drill pipe inside, the rotary joint makes the auxiliary gripper vertically downward, and the auxiliary gripper is open; the drilling rig is drilling.

[0118] 2) Selecting a row of drill pipes by the auxiliary robot 6: The auxiliary robot 6 selects a row of drill pipes under the control of the control system.

[0119] 3) Adjusting the height of the auxiliary manipulator 6: With the joint adjustment of the lifting joint and the telescopic joint, the auxiliary manipulator 6 reaches a height suitable for gripping the top drill rod of the selected column.

[0120] 4) The auxiliary manipulator 6 grips the drill rod: The auxiliary gripper of the auxiliary manipulator 6 clamps the drill rod.

[0121] 5) Adjusting the height of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted in the opposite direction until the drill rod does not interfere with the drill rod box 5 and is at a suitable height for placing the drill rod onto the drill rod transfer device 8.

[0122] 6) Translation of auxiliary manipulator 6: The auxiliary manipulator 6 clamps the drill pipe and translates it in the direction of the drill pipe transfer device 8.

[0123] 7) The auxiliary manipulator 6 swings upward: The auxiliary gripper of the auxiliary manipulator 6 swings upward and lifts up.

[0124] 8) The auxiliary manipulator 6 extends: The extension joint of the auxiliary manipulator 6 drives the auxiliary gripper to extend towards the drill pipe transfer device 8.

[0125] 9) Drill pipe transfer device 8 clamps the drill pipe: When the drill pipe is placed into the drill pipe transfer device 8, the slider 805 of the drill pipe transfer device 8 retracts inward, and at the same time the pressure plate 803 presses the drill pipe (the drill pipe 14 to be transferred).

[0126] 10) Secondary robot arm 6 releases: Secondary robot arm 6 releases the drill rod, the telescopic joint retracts, and returns to the initial state, ready to grab the next drill rod.

[0127] 11) Rotation of drill pipe transfer device 8: The drill pipe transfer device 8 rotates from the horizontal position to the inclination angle α until it is the same as the inclination angle of the frame 11.

[0128] 12) Reverse rotation of main manipulator 9: Main manipulator 9 rotates in the direction of drill pipe transfer device 8.

[0129] 13) Main robot arm 9 extends: The telescopic joint of the main robot arm 9 extends towards the drill pipe transfer device 8.

[0130] 14) Main robot arm 9 clamps: Main robot arm 9 clamps the drill rod.

[0131] 15) Drill pipe transfer device 8 is released: the transfer groove slider 805 expands to both sides, and the pressure plate 803 is released.

[0132] 16) First stage rotation of main robotic arm 9: Main robotic arm 9 rotates clockwise ( Figure 1 Rotate to make room for the drill pipe transfer device 8 to rotate.

[0133] 17) Retraction of main manipulator 9: The telescopic joint of main manipulator 9 retracts.

[0134] 18) Sliding of main manipulator 9: The main manipulator 9 slides towards the gripper 12, so that the drill rod is in a suitable position to be fed into the frame 11.

[0135] 19) Main robot arm 9 waiting: waiting for the current drill rod to complete drilling.

[0136] 20) Drill pipe transfer device 8 horizontal: Drill pipe transfer device 8 returns to the horizontal position.

[0137] 21) Disconnect the drill rod inside the hole: After completing the drilling of the current drill rod, the power head 10 disconnects from the drill rod inside the hole and retracts to a position suitable for inserting the drill rod.

[0138] 22) Main robotic arm 9 extends: The telescopic joint of the main robotic arm 9 extends.

[0139] 23) Second stage rotation of main manipulator 9: The main manipulator 9 performs the second stage rotation to send the drill rod into the frame 11, where it is held by the gripper 12 or the power head 10.

[0140] 24) Main robot arm 9 releases: Main robot arm 9 releases the drill rod.

[0141] 25) Drill pipe connection: The power head 10 and the clamp 12 work together to complete the drill pipe connection and continue drilling.

[0142] (2) Retraction condition

[0143] 1) Initial state: Assume the tilt angle between the frame 11 and the main manipulator 9 is α; the drill rod transfer device 8 is in a horizontal position, the slider 805 expands to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 retracts, the main rotary joint is in the state of completing the first stage of rotation, the sliding joint retracts, and the main gripper opens; the auxiliary manipulator 6 is located at the position closest to the transfer groove on the slide rail of the drill rod box 5, the lifting joint makes the gripper at a suitable height to grab the drill rod in the drill rod transfer device 8, the auxiliary telescopic joint retracts, the auxiliary rotary joint makes the auxiliary gripper lift up, and the auxiliary gripper opens; the drilling rig has just completed the drilling of the last drill rod.

[0144] 2) Power head 10 retracts: Power head 10 drags drill rod 13 in the hole to retract;

[0145] 3) Sliding of main manipulator 9: The main manipulator 9 slides towards the gripper 12 and is positioned to reach into the frame 11 to grab the drill rod.

[0146] 4) Main robot arm 9 is waiting: waiting for the drill rod 13 in the current hole to be uncoupled;

[0147] 5) Rotation of drill pipe transfer device 8: The drill pipe transfer device 8 rotates in the direction of inclination angle α until it is the same as the inclination angle of the frame 11.

[0148] 6) Drill rod uncoupling: The power head 10 and the clamp 12 work together to uncouple the drill rod (disconnect it from the drill rod inside the hole).

[0149] 7) Main robotic arm 9 extends: The telescopic joint of the main robotic arm 9 extends.

[0150] 8) Second rotation of main manipulator 9: The main manipulator 9 performs the second rotation, and the gripper reaches the position where it can hold the drill rod to be disassembled in the frame 11.

[0151] 9) Main robot arm 9 clamps: Main robot arm 9 clamps the drill rod.

[0152] 10) Clamp 12 or power head 10 released: Clamp 12 or power head 10 completely disengaged from the drill pipe to be disassembled.

[0153] 11) Main robot arm 9 rotates in reverse: The main robot arm 9 rotates in reverse to put the drill rod into the drill rod transfer device 8.

[0154] 12) Drill pipe transfer device 8 clamping: When the drill pipe is put into the drill pipe transfer device 8, the slider 805 of the drill pipe transfer device 8 retracts inward, and at the same time the pressure plate 803 presses the drill pipe.

[0155] 13) Main robot arm 9 releases: Main robot arm 9 releases the drill rod.

[0156] 14) Retraction of main manipulator 9: The telescopic joint of main manipulator 9 retracts.

[0157] 15) First stage rotation of main robotic arm 9: Main robotic arm 9 rotates clockwise ( Figure 1 Rotate to make room for the drill pipe transfer device 8 to rotate.

[0158] 16) Drill pipe transfer device 8 horizontal: Drill pipe transfer device 8 returns to the horizontal position.

[0159] 17) The auxiliary manipulator 6 extends: The extension joint of the auxiliary manipulator 6 drives the auxiliary gripper to extend towards the drill pipe transfer device 8.

[0160] 18) Clamping by auxiliary manipulator 6: The auxiliary jaws of auxiliary manipulator 6 clamp the drill pipe.

[0161] 19) Drill pipe transfer device 8 is released: the transfer groove slider 805 expands to both sides, and the pressure plate 803 is released.

[0162] 20) Sub-manipulator 6 retracts: The telescopic joint of sub-manipulator 6 retracts, and the drill pipe is removed from the drill pipe transfer device 8.

[0163] 21) The auxiliary manipulator 6 swings downward: the gripper of the auxiliary manipulator 6 swings downward away from the drill pipe transfer device 8.

[0164] 22) Selecting a column for the auxiliary robot: Under the control of the control system, the auxiliary robot 6 selects a column of space where the drill rod can be placed.

[0165] 23) Adjusting the height of the auxiliary manipulator 6: With the joint adjustment of the lifting joint and the telescopic joint, the auxiliary manipulator 6 reaches a suitable height for placing the current drill rod into the drill rod box 5.

[0166] 24) Sub-manipulator 6 releases: After the drill rod is placed, the gripper of sub-manipulator 6 releases the drill rod.

[0167] Example 2

[0168] This embodiment further defines the main telescopic joint based on Embodiment 1. The main telescopic joint includes a vertically arranged outer main cylinder 907 and an inner main cylinder 908. The outer main cylinder 907 is connected to the main rotating shaft 905, and the inner main cylinder 908 is slidably connected inside the outer main cylinder 907. The main gripper assembly is connected to the bottom of the inner main cylinder 908. In implementation, the inner main cylinder 908 and the outer main cylinder 907 maintain relative sliding in the axial direction, with the sliding direction perpendicular to the axis of the main rotating shaft 905 in the main rotating joint. This extends the radius of the original main manipulator 9 and expands its grasping range. Furthermore, during installation, the inner main cylinder 908 and the outer main cylinder 907 should be equipped with limiting rings or retaining rings to ensure that the inner main cylinder 908 does not slide outside the outer main cylinder 907.

[0169] Furthermore, the main outer cylinder 907 and the main rotating shaft 905 are detachably connected via flanges. In implementation, the main telescopic joint in this invention is suspended from one end of the main rotating shaft 905. Combined with the weight of the main gripper assembly, sufficient connection strength is required between the main rotating shaft 905 and the main outer cylinder 907. A flange connection involves fixing two pipes, fittings, or equipment to separate flanges, placing a gasket between the two flanges, and then tightening them together with bolts. Flange connections are an important connection method in pipeline construction; they are convenient to use and can withstand significant pressure. Therefore, this invention uses a flange connection to ensure sufficient connection strength between the main rotating shaft 905 and the main outer cylinder 907. The flange connection, secured with multiple bolts, allows for disassembly of the main rotating shaft 905 and the main outer cylinder 907, facilitating later maintenance or replacement of various components.

[0170] In addition, both the outer main cylinder 907 and the inner main cylinder 908 in this invention are hollow cylindrical structures, which reduces the weight of the main telescopic joint to a certain extent and further ensures the connection strength between the outer main cylinder 907 and the main rotating shaft 905.

[0171] Furthermore, the main telescopic joint also includes a main telescopic cylinder 906, which is fixed to the top of the main outer cylinder 907. The main inner cylinder 908 is connected to the output end of the main telescopic cylinder 906. This invention intelligently controls the relative movement between the main outer cylinder 907 and the main inner cylinder 908 through the main telescopic cylinder 906, allowing the main gripper assembly located at the bottom of the main inner cylinder 908 to stop at a set position and perform a gripping action. The extension and retraction process of the main telescopic cylinder 906 is the distance that the main outer cylinder 907 and the main inner cylinder 908 can move relative to each other, and this distance should be less than the limit displacement between the main outer cylinder 907 and the main inner cylinder 908 to prevent collisions between them.

[0172] Furthermore, the main gripper assembly includes a main gripper 910 and a main clamping cylinder 909. The main clamping cylinder 909 is fixed to the lower part of the main inner cylinder 908, and the main gripper 910 is fixed to the main clamping cylinder 909, clamping or releasing under the drive of the main clamping cylinder 909. In implementation, after the main rotary joint drives the main gripper 910 to rotate to a set angle, the main gripper 910 is extended to a designated position through the telescopic function of the main telescopic joint. Finally, the main clamping cylinder 909 executes the gripping command to complete the gripping process. Then, the main telescopic joint controls the main gripper 910 to retract. After the main rotary joint drives the main telescopic joint and the main gripper 910 to rotate to a designated position, the main clamping cylinder 909 executes the releasing command to release the gripped drill rod to the designated position.

[0173] Example 3:

[0174] Then according to Figure 13 As shown, the frame-fixed main manipulator 9 provided by the present invention also includes a sliding joint, and a rotating seat 903 is fixed on the sliding joint to drive the main manipulator 9 to move horizontally as a whole. The difference from Embodiment 2 is that this embodiment adds a sliding joint, while the remaining main rotation joints and main telescopic joints are consistent with Embodiment 2.

[0175] As mentioned above, the combination of the main rotary joint and the main telescopic joint expands the grasping range of the main manipulator 9. In this embodiment, the sliding joint applies a horizontal displacement function to the main manipulator 9, further expanding the grasping range of the main manipulator 9.

[0176] Furthermore, the sliding joint includes a fixed base 901 and a connecting arm 911. The fixed base 901 is connected to the frame 11 and has a horizontally arranged main slide rail. The bottom of the connecting arm 911 has a sliding groove that cooperates with the main slide rail. The rotating seat 903 in the main rotating joint is fixedly connected to the connecting arm 911. In implementation, the horizontal displacement between the connecting arm 911 and the fixed base 901 is limited by the cooperation between the track and the sliding groove, that is, the horizontal displacement direction and horizontal displacement amount of the connecting arm 911 are determined. In this invention, both the main rotating joint and the main telescopic joint are fixed on the connecting arm 911. Therefore, any displacement of the connecting arm 911 will drive the main manipulator 9 to move as a whole. The specific horizontal displacement direction needs to be determined according to the initial position of the drill rod, the position to be transported, and the initial position of the main manipulator 9 under actual conditions. That is to say, the track in the sliding joint of this invention can be set in any direction to ensure that the main manipulator 9 can effectively complete the gripping process.

[0177] Furthermore, as mentioned in Embodiment 3, the main telescopic joint is suspended at one end of the main rotation shaft 905, meaning the connecting arm 911 also needs to support the main manipulator 9. Therefore, according to the lever principle, without interfering with the normal extension and retraction of the main telescopic joint, the connecting arm 911 and the rotating seat 903 should have sufficient connection area, and the distance between the connecting arm 911 and the main telescopic joint should be minimized as much as possible to ensure sufficient connection strength between the two and avoid damage to the main rotation shaft 905 due to excessive suspension weight of the main telescopic joint. Similarly, the rotating seat 903 should also have sufficient coverage area for the main rotation shaft 905, distributing the weight of the main telescopic joint and the main gripper assembly to every part of the rotating seat 903 through the transmission shaft, and then transmitting it as a whole to the fixed seat 901 via the connecting arm 911.

[0178] Furthermore, the sliding joint also includes a sliding cylinder 912, one end of which is fixed to the fixed base 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. This invention uses the sliding cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed base 901, allowing the main robot arm 9 to stop at a set position and perform a grasping action. The displacement of the sliding cylinder 912 represents the distance that the connecting arm 911 and the fixed base 901 can move relative to each other, and this distance should be less than the limit displacement between the connecting arm 911 and the fixed base 901 to prevent collisions between them.

[0179] Example 4

[0180] Please see again Figures 2 to 4As shown, in the secondary manipulator 6, the lifting joint and the secondary rotary joint are connected by a crossbeam 603. The lifting joint is connected to the lower part of the crossbeam 603, and the secondary rotary joint is connected to the side of the crossbeam 603.

[0181] The lifting joint includes a lifting cylinder 601 and a lifting outer cylinder 602 connected to each other. The lifting outer cylinder 602 is sleeved and installed with the lifting inner cylinder below the crossbeam 603. The lifting outer cylinder 602 and the lifting inner cylinder form a lifting pair. The lifting cylinder 601 drives the lifting pair to perform lifting movements.

[0182] The secondary rotary joint includes a secondary rotary actuator 604 connected to the crossbeam 603 and a secondary rotary shaft 605 connected to the secondary rotary actuator 604. The secondary rotary shaft 605 rotates under the drive of the secondary rotary actuator 604. The end of the secondary rotary shaft 605 away from the crossbeam 603 is connected to the secondary telescopic joint. The rotation of the secondary rotary shaft 605 drives the secondary telescopic joint and the secondary gripper 609 to swing.

[0183] The secondary telescopic joint includes a secondary telescopic cylinder 606 connected to the secondary rotating shaft 605. A secondary outer cylinder 607 and a secondary inner cylinder 608 are connected below the secondary telescopic cylinder 606. The secondary inner cylinder 608 is inserted into the secondary outer cylinder 607 to form a telescopic joint, which performs telescopic movement under the drive of the secondary telescopic cylinder 606.

[0184] The auxiliary rotating shaft 605 is installed in the inner cavity of the crossbeam 603. The inner cavity of the crossbeam 603 is provided with an arc groove. The outer side of the auxiliary rotating shaft 605 is provided with a protrusion. When the auxiliary rotating shaft 605 rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotating shaft 605.

[0185] The secondary gripper 609 is connected to a secondary clamping cylinder 610 on the side near the telescopic unit. Driven by the secondary clamping cylinder 610, the secondary gripper 609 clamps or releases.

[0186] This invention enables the auxiliary manipulator 6 to swing in the vertical plane by setting a secondary rotary joint with a limited angle. This allows the manipulator to transport drill pipe over components such as the attitude adjustment device, thereby allowing the transfer unit to be positioned on the opposite side of the attitude adjustment device from the drill pipe box. This improvement significantly enhances the flexibility of drill pipe delivery system layout for full-face drilling, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0187] Example 5

[0188] Please see again Figures 5 to 9As shown, the attitude adjustment device includes an azimuth rotator 701, a rotatable platform 702, a lower anchoring assembly 703, a lifting column 704, a lifting sleeve 705, a lifting cylinder 706, an upper anchoring seat 707, an upper anchoring assembly 708, a transfer device rotator 709, an inclination rotator 710, a rotatable transition plate 712, and a frame connecting plate 713.

[0189] The rotary platform 702 comprises:

[0190] Rotary plate 70201: As the main structure, it has an interface on the left side for connecting to the drill rod box in the drilling rig.

[0191] Lower anchor mounting plate 70202: Located on the right side, used for installing the lower anchor assembly (703).

[0192] Ear seat 70203: Also located on the right side, used to fix the lifting cylinder 706 (see Figure 5 ).

[0193] The lower anchoring assembly 703 consists of a hydraulic cylinder and a stabilizing component. The hydraulic cylinder is responsible for lifting the device from the muddy ground underground, and the stabilizing component is connected to the lower end of the hydraulic cylinder via a ball joint hinge, which can adjust the support angle to adapt to ground conditions and ensure the stability of the bottom of the device.

[0194] Lifting column 704: Two lifting columns are fixed to the top of the lower anchoring component 703 and are vertically set on both sides of the frame tilt angle rotation axis, serving as guide rails for the up and down movement of the lifting sleeve 705.

[0195] Lifting sleeve 705: A cavity is formed by two side plates 70501 and a top sealing plate, housing a lifting cylinder 706. One end of the lifting cylinder 706 is connected to the lifting sleeve via a pin, and the other end is fixed to a lug 70203, driving the lifting sleeve to move up and down along the lifting column. Sleeves 70502, slidingly fitted onto the lifting column on both sides of the lifting sleeve, serve as guides. A connecting cylinder 70503 is located on the side facing the frame, and the connecting cylinder is equipped with a flange for installing a rotary transition plate 712 (see...). Figure 8 ).

[0196] Upper anchoring seat 707: Installed on the lifting column, including a fixing cylinder 70702 sleeved on the lifting column, and a column head 70701 fixedly installed on the outside of the fixing cylinder 70702 for connecting the upper anchoring assembly 708 (see...). Figure 9 ).

[0197] Upper anchoring assembly 708: Composed of a hydraulic cylinder and a stabilizing component. The stabilizing component is hinged to the piston rod of the hydraulic cylinder via a ball joint, pressing against the top of the tunnel, and adapting to the top angle through the ball joint to ensure the stability of the top of the device.

[0198] Rotary transition plate 712: A disc-shaped part, the rotary transition plate 712 is a disc-shaped part with three sets of flanges arranged from the inside to the outside, namely the first transition plate flange, the second transition plate flange, and the third transition plate flange. The inner first transition plate flange matches the flange of the connecting cylinder 70503 and fixes itself to the lifting sleeve 705; the two outer flanges are used to install the transfer device rotary device 709 and the frame connecting plate 713, respectively.

[0199] Specifically, the transferor rotary 709 is installed on the side of the rotary transition plate 712 near the lifting sleeve 705 and is connected to the third transition plate flange, while the frame connecting plate 713 is installed on the side of the rotary transition plate 712 away from the lifting sleeve 705 and is connected to the second transition plate flange.

[0200] Rotary transducer 709: Rotary transducer 709 is a drive element used to adjust the drill pipe transducer (the drill pipe transducer is mounted on top of rotary transducer 709).

[0201] The fixed ring (preferably the outer ring in this application) of the rotary transferor 709 is bolted to the third transition plate flange of the rotary transition plate 712, thereby indirectly fixing it to the lifting sleeve. Preferably, the inner ring is a rotating ring and is fixedly connected to the outer shell of the rotary transferor 709. The drill pipe transferor is fixedly installed on the top of the outer shell of the rotary transferor 709, allowing the tilt angle to be adjusted as the outer shell rotates. The rotary transferor 709 is preferably a worm gear reducer.

[0202] Frame connecting plate 713: a disc-shaped part equipped with two sets of flanges, one set connecting to the rotary transition plate and the other set connecting to the tilt swivel 710.

[0203] Inclined rotator 710: Also a worm gear rotary reducer, preferably with the fixed ring as the outer ring, connected to one set of flange bolts on the frame connecting plate 713, thereby indirectly fixed to the lifting sleeve 705; the rotating ring is the inner ring, and is fixedly connected to the frame 11 to drive the frame 11 to rotate circumferentially. Specifically, the frame 11 is arranged on the side of the inclined rotator 710 away from the lifting sleeve 705, and is arranged in a side-mounted form.

[0204] The working principles of the transferor rotary 709 and the tilt rotary 710 in this embodiment are as follows:

[0205] The fixed ring of the rotary transferor 709 is bolted to the third transition plate flange of the rotary transition plate 712, thereby indirectly fixing it to the lifting sleeve. The rotating ring of the rotary transferor 709 is fixedly connected to the drill pipe transferor to adjust the inclination angle of the drill pipe transferor.

[0206] The frame connecting plate 713 is fixedly installed on the rotary transition plate 712, thereby indirectly fixed to the lifting sleeve. The rotating ring of the tilting rotator 710 is connected to the frame 11, and the fixing ring of the tilting rotator 710 is fixedly installed on the frame connecting plate 713, thereby indirectly fixed to the lifting sleeve.

[0207] Therefore, the fixed rings of the transferor rotary 709 and the tilt angle rotary 710 are both fixedly installed on the lifting sleeve 705, while the rotating rings respectively carry the drill pipe transferor and the frame, and are not restricted by the lifting sleeve to rotate, and can rotate independently and freely, thus forming an asynchronous rotating transpose that drives the frame and the drill pipe transferor to adjust their tilt angles separately, thereby allowing the tilt angles of the frame and the drill pipe transferor to be adjusted independently.

[0208] Through two disc-shaped transition parts, the rotary transition plate and the frame connecting plate, the rotary 709 and the tilt 710 that drive the drill rod transfer device and the frame tilt rotation are respectively fixed on the same side of the lifting sleeve. In the narrow space between the frame and the lifting sleeve, the tilt angle of the drill rod transfer device can be adjusted independently of the frame, so that the tilt angle of the drill rod transfer device (i.e. the drill rod to be transported) can be adjusted within a wide range along with the frame, which helps to expand the drilling tilt angle range of the automatic drilling machine to the entire circumference.

[0209] In operation, the transferor rotator 709 and the tilt rotator 710 can be independently controlled by their respective motors (or hydraulic motors). The operator can adjust the tilt angle of the drill pipe transferor or the tilt angle of the frame 11 individually according to drilling requirements. For example, when adjusting the angle of the drill pipe transferor, only the transferor rotator 709 needs to be activated, while the angle of the frame 11 remains unchanged; conversely, the angle can be adjusted as needed. This asynchronous adjustment design improves the flexibility of the drilling rig. Alternatively, the transferor rotator 709 and the tilt rotator 710 can be activated simultaneously to synchronously adjust the tilt angle of the drill pipe transferor and the tilt angle of the frame 11, making them the same or different tilt angles.

[0210] The operation process of this attitude adjustment device is as follows:

[0211] 1. Positioning: Transport the drilling rig mobile platform to the drilling site.

[0212] 2. Bottom Anchoring: Extend the hydraulic cylinder of the lower anchoring assembly 703 to bring the stabilizing member into contact with the ground and adjust the angle, lift the device and provide stable support.

[0213] 3. Top anchoring: Extend the hydraulic cylinder of the upper anchoring assembly 708 to make the stabilizing member press against the top of the tunnel, forming a four-corner anchoring.

[0214] 4. Azimuth adjustment: Rotate the rotary platform 702 by rotating the azimuth rotary head 701 to set the horizontal direction of the borehole.

[0215] 5. Height adjustment: Start the lifting cylinder 706 to drive the lifting sleeve 705 to move up and down along the lifting column 704 to adjust the drilling height.

[0216] 6. Frame tilt adjustment: Rotate the tilt rotator 710 to set the frame tilt angle within the range of 0 to ±180°.

[0217] 7. Transfer device tilt angle adjustment: Independently rotate the transfer device 709 to align the tilt angle of the drill pipe transfer device to ensure smooth drill pipe delivery.

[0218] This embodiment integrates anchoring and attitude adjustment into one unit, and uses a vertical frame connecting plate to side-mount the frame, enabling the frame tilt angle adjustment range to reach the full cross-section (0 to ±180°), effectively solving the problem of limited tilt angle in traditional drilling rigs. Simultaneously, the side-mounted installation effectively reduces the frame axis height, thus reducing the opening height and enhancing the range of motion of the drill rod conveying robot. Furthermore, the four-corner anchoring structure (upper and lower anchoring components) ensures the stability of the device under various postures, improving the safety and efficiency of the drilling process. Moreover, the fixed rings of the transferor rotator 709 and the tilt angle rotator 710 are both fixedly mounted on the lifting sleeve 705, while their respective rotating rings support the transferor 8 and the frame 11, and are not restricted by the lifting sleeve 705, allowing independent and free rotation. This forms an asynchronous rotation device that independently adjusts the tilt angles of the frame 11 and the transferor 8.

[0219] Furthermore, the mobile platform 1 is also provided with two upper anchoring components arranged at the end of the drill rod box 5 away from the frame 11. The two upper anchoring components on the mobile platform 1 and the lower anchoring components and upper anchoring components in the attitude adjustment device 7 together form an anchoring system, which further enhances the stability of the drilling rig during drilling.

[0220] Example 6

[0221] This embodiment demonstrates a simplified attitude adjustment device. Compared to Embodiment 5, it eliminates the rotary transition plate 712 and the frame connecting plate 713, reducing complexity by directly installing the rotating device while retaining all functions. The following description, in conjunction with the accompanying drawings, illustrates this simplified approach. Figures 5 to 8 )illustrate.

[0222] Similar to Embodiment 5, the rotary platform 702 is connected to the mobile platform via the azimuth rotator 701 and is equipped with a lower anchoring component 703, a lifting column 704, a lifting sleeve 705, a lifting cylinder 706, an upper anchoring seat 707, and an upper anchoring component 708. The layout is the same, and the specific configuration is described in Embodiment 5.

[0223] The difference from Embodiment 1 is that the transferor rotary 709 is directly installed on the connecting cylinder 70503 of the lifting sleeve 705. The fixed ring (outer ring) is connected to the connecting cylinder, and the rotating ring (inner ring) is connected to the drill pipe transferor, which is used to adjust the inclination angle of the transferor.

[0224] Inclination rotator 710: Installed on the transferor rotator 709, the fixed ring (outer ring) is connected to the fixed ring of the transferor rotator, and the rotating ring (inner ring) is fixed to the frame, used to adjust the tilt angle of the frame.

[0225] Features: This stacked design integrates the rotating mechanism directly into the lifting sleeve, simplifying the connection structure.

[0226] This embodiment reduces the number of parts and manufacturing complexity by omitting the rotary transition plate 712 and the frame connecting plate 713, thereby lowering costs, while retaining the full-section tilt angle adjustment range (0 to ±180°) and a lower opening height. The four-corner anchoring design still ensures the stability of the device in various positions, making it suitable for complex downhole environments.

[0227] Alternatively, another method can be used:

[0228] Installation of the tilt slewing mechanism 710:

[0229] A mounting base is welded onto the connecting cylinder 70503 of the lifting sleeve 705, and the fixing ring of the tilting rotator 710 is directly fixed to the mounting base by bolts. The rotating ring of the tilting rotator 710 is connected to the frame 11, and the tilting angle of the frame 11 is adjusted by a motor.

[0230] Installation of the transfer rotary 709:

[0231] The fixed ring of the rotary transferor 709 is bolted to the fixed ring of the tilting rotary transferor 710. The rotating ring is connected to the drill pipe transferor, and the tilting angle of the drill pipe transferor is adjusted by a motor drive.

[0232] In both alternative structures described above, the transferor rotator 709 and the tilt rotator 710 remain located on the same side of the lifting sleeve 705 and can be operated independently. Operators can adjust the tilt angle of the drill pipe transferor and the frame 11 separately by controlling their respective motors, achieving asynchronous adjustment. This design simplifies the structure while maintaining functional flexibility, making it suitable for different drilling rig configurations.

[0233] In another embodiment, the transferor rotator 709 or the tilt rotator 710 is directly mounted on the lifting sleeve 705, that is, the rotatable transition plate 712, the frame connecting plate 713 and the lifting sleeve 705 are manufactured as a single unit.

[0234] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A full-face drilling rig with a drill pipe conveying system, comprising a mobile platform, a drill pipe box, a secondary manipulator, an attitude adjustment device, a drill pipe transfer device, a main manipulator, and a frame, wherein the drill pipe box and the attitude adjustment device are both mounted on the mobile platform, and the attitude adjustment device is located on one side of the drill pipe box; the secondary manipulator is used to transfer drill pipes from the drill pipe box to the drill pipe transfer device; and the main manipulator is used to transfer drill pipes from the drill pipe transfer device to the frame, characterized in that: The attitude adjustment device includes a rotary platform, a lifting sleeve, a transferor rotator, and an angle rotator. The rotary platform serves as the carrier of the attitude adjustment device and is rotatably connected to the mobile platform. The lifting sleeve is vertically and vertically mounted on the rotary platform. The transferor rotator and the angle rotator are both mounted on the lifting sleeve, and both the angle rotator and the transferor rotator are located on the side of the lifting sleeve away from the drill pipe box. The drill pipe transfer device is arranged on top of the transfer device rotary device, and the tilt angle of the drill pipe transfer device is adjusted by the transfer device rotary device. The frame is mounted on the side of the tilting gyroscope away from the lifting sleeve, and the tilt angle of the frame is adjusted by the tilting gyroscope. The main manipulator is mounted on the frame and rotates with the frame.

2. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: The auxiliary manipulator is slidably connected to the drill pipe box via an auxiliary slide rail arranged on the drill pipe box. It includes a lifting joint, an auxiliary rotating joint, an auxiliary telescopic joint, and an auxiliary gripper connected in sequence. The end of the lifting joint away from the auxiliary gripper is connected to the auxiliary slide rail. The auxiliary telescopic joint and the auxiliary gripper are arranged facing the inside of the drill pipe box. The secondary rotary joint and the lifting joint are connected by a crossbeam; the secondary rotary joint includes a secondary rotary shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the secondary rotary shaft. When the secondary rotary shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the secondary rotary shaft.

3. The full-face drilling rig with a drill pipe conveying system according to claim 2, characterized in that: The end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam.

4. The full-face drilling rig with a drill pipe conveying system according to claim 3, characterized in that: The lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder. The lifting outer cylinder is sleeved and installed with the lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement. The lifting cylinder drives the lifting pair to perform lifting movement. The secondary rotary joint also includes a secondary rotary actuator connected to the crossbeam. The secondary rotary actuator is connected to the secondary rotary shaft to drive the rotation of the secondary rotary shaft.

5. The full-face drilling rig with a drill pipe conveying system according to claim 2, characterized in that: The end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. When the secondary rotating shaft rotates, it causes the secondary telescopic joint and the secondary gripper to swing.

6. The full-face drilling rig with a drill pipe conveying system according to claim 5, characterized in that: The secondary telescopic joint includes a secondary outer cylinder and a secondary inner cylinder. The secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic joint for telescopic movement. And a secondary telescopic cylinder connected to the secondary rotating shaft, the secondary telescopic cylinder being connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

7. The full-face drilling rig with a drill pipe conveying system according to claim 2, characterized in that: The secondary gripper is connected to a secondary clamping cylinder on the side near the telescopic unit. Driven by the secondary clamping cylinder, the secondary gripper clamps or releases.

8. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: The main manipulator includes a main rotary joint, a main telescopic joint, and a main gripper assembly; The main rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the main rotating shaft to rotate. The main rotating shaft passes through the rotating seat and is connected to the main telescopic joint. The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

9. The full-face drilling rig with a drill pipe conveying system according to claim 8, characterized in that: The main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder, and a main telescopic cylinder. The main outer cylinder is detachably connected to the main rotating shaft via a flange. The main inner cylinder is slidably connected inside the main outer cylinder. The main gripper assembly is connected to the bottom of the main inner cylinder. The main telescopic cylinder is fixed to the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

10. The full-face drilling rig with a drill pipe conveying system according to claim 9, characterized in that: The main gripper assembly includes a main gripper and a main clamping cylinder. The main clamping cylinder is fixed to the lower part of the main inner cylinder, and the main gripper is fixed to the main clamping cylinder and clamps or releases under the drive of the main clamping cylinder.

11. The full-face drilling rig with a drill pipe conveying system according to claim 8, characterized in that: It also includes a sliding joint, which includes a fixed seat, a connecting arm, and a sliding cylinder. The fixed seat is connected to the frame and is provided with a horizontally arranged main slide rail. The bottom of the connecting arm is provided with a sliding groove, which cooperates with the main slide rail. The rotating seat in the main rotating joint is fixedly connected to the connecting arm. One end of the sliding cylinder is fixed to the fixed base, and the other end is connected to the connecting arm so that the connecting arm slides along the track.

12. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: The drill pipe transfer device includes a base plate, a support block, a pressure plate, and an axial clamping block. The support block is disposed on the base plate and is used to support the drill pipe. The axial clamping block is disposed on the base plate and is located on both sides of the support block. A pressure plate is rotatably connected to the upper part of the axial clamping block, and the pressure plate is located above the support block. The axial clamping block clamps and fixes the drill pipe axially upwards. The axial clamping block includes at least one slider slidably disposed on the base plate. The pressure plate presses the drill pipe onto the support block.

13. The full-face drilling rig with a drill pipe conveying system according to claim 12, characterized in that: A sliding cylinder is provided at the bottom of the base plate, and the sliding cylinder is connected to the slider to drive the slider to slide along the length direction of the base plate.

14. The full-face drilling rig with a drill pipe conveying system according to claim 12, characterized in that: The axial clamping block is rotatably connected to the pressure plate. When the drill pipe transfer device is in a state of waiting to load or remove the drill pipe, the pressure plate rotates upward to open, making it easier to load or remove the drill pipe.

15. The full-face drilling rig with a drill pipe delivery system according to any one of claims 12 or 14, characterized in that: The pressure plate is also provided with a clamping cylinder to drive the rotation of the pressure plate; the clamping cylinder is located outside the two axial clamping blocks and is hinged to the upper part of the axial clamping blocks.

16. The full-face drilling rig with a drill pipe conveying system according to claim 15, characterized in that: The support block is provided in at least two parts, and each support block has a groove on its upper part that matches the outer diameter of the drill rod.

17. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: It also includes an azimuth rotator, which is mounted on the mobile platform and connected to the rotary platform, for rotating the rotary platform onto the mobile platform of the drilling rig.

18. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: It also includes a lower anchoring assembly, which is installed on one side of the rotating platform for contact with the ground and to support the attitude adjustment device.

19. The full-face drilling rig with a drill pipe conveying system according to claim 18, characterized in that: The main body of the rotary platform is a rotary plate, and one side of the rotary plate is provided with a lower anchor mounting plate and a lug for connecting the lower anchoring assembly and the lifting cylinder, respectively.

20. The full-face drilling rig with a drill pipe conveying system according to claim 19, characterized in that: The other end of the lifting cylinder is connected to the lifting sleeve to drive the lifting sleeve to move vertically up and down.

21. The full-face drilling rig with a drill pipe conveying system according to claim 19, characterized in that: It also includes a lifting column, which is installed on top of the lower anchoring assembly or is manufactured integrally with the lower anchoring assembly, and is used to guide the vertical lifting and lowering of the lifting sleeve.

22. The full-face drilling rig with a drill pipe conveying system according to claim 21, characterized in that: It also includes the upper anchorage and the upper anchorage assembly; The upper anchoring seat includes a fixed cylinder fixedly sleeved on the lifting column and a column head connected to the outside of the fixed cylinder; The upper anchoring assembly is installed on the column head for contact with the roadway top support.

23. The full-face drilling rig with a drill pipe conveying system according to claim 22, characterized in that: The lifting sleeve includes a lifting sleeve cavity, a sleeve, and a connecting sleeve; The lifting sleeve cavity is formed by two front and rear side plates and a top sealing plate, and is configured to accommodate the lifting cylinder. The sleeve is fixedly installed on the left and right sides of the lifting sleeve cavity, serving as a guide for movement along the lifting column; The connecting cylinder is fixedly installed on the side of the lifting sleeve cavity facing the frame, and a flange for installing the rotary transition plate is provided on it.

24. The full-face drilling rig with a drill pipe delivery system according to claim 23, characterized in that: The rotary transition plate is disc-shaped and includes: The first transition plate flange is configured to connect to the connecting cylinder; The second transition plate flange is configured to connect to the frame connection plate; and The third transition plate flange is configured to connect to the rotary unit of the transfer device.

25. The full-face drilling rig with a drill pipe delivery system according to claim 24, characterized in that: The transferor rotary unit includes: A retaining ring is connected to the third transition plate flange of the rotary transition plate; and The rotating ring is connected to the drill pipe transfer device, and its inclination angle is adjusted.

26. The full-face drilling rig with a drill pipe delivery system according to claim 24, characterized in that: The frame connecting plate is disc-shaped and includes: A first flange, configured to connect to a second transition plate flange of the rotary transition plate; and The second flange is configured to connect to the tilt slewing device.

27. The full-face drilling rig with a drill pipe delivery system according to claim 26, characterized in that: The tilt gyroscope includes: A retaining ring is connected to the second flange of the frame connecting plate; and A rotating ring, fixedly connected to the frame, is configured to adjust the tilt angle of the frame; Furthermore, the frame is mounted on the tilting rotary device.

28. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: The retaining ring of the transferor rotator is directly installed on the lifting sleeve, and the retaining ring of the tilting rotator is installed on the retaining ring of the transferor rotator.

29. The full-face drilling rig with a drill pipe conveying system according to claim 1, characterized in that: The retaining ring of the tilting rotator is directly installed on the lifting sleeve, and the retaining ring of the transfer rotator is installed on the retaining ring of the tilting rotator.

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