CN108487857A - A kind of novel valve-type hydraulic impacter - Google Patents

A kind of novel valve-type hydraulic impacter Download PDF

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Publication number
CN108487857A
CN108487857A CN201810484105.7A CN201810484105A CN108487857A CN 108487857 A CN108487857 A CN 108487857A CN 201810484105 A CN201810484105 A CN 201810484105A CN 108487857 A CN108487857 A CN 108487857A
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CN
China
Prior art keywords
spool
valve pocket
valve
central tube
jump bit
Prior art date
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Granted
Application number
CN201810484105.7A
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Chinese (zh)
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CN108487857B (en
Inventor
刘化国
陈志强
张代明
刘凯泉
付传红
魏代峰
孙继波
董志滟
沈腾飞
刘海涛
王奇斋
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Shandong Shengli Petroleum Equipment Industry Technology Research Institute
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Shandong Shengli Petroleum Equipment Industry Technology Research Institute
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Priority to CN201810484105.7A priority Critical patent/CN108487857B/en
Publication of CN108487857A publication Critical patent/CN108487857A/en
Application granted granted Critical
Publication of CN108487857B publication Critical patent/CN108487857B/en
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Classifications

    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B4/00Drives for drilling, used in the borehole
    • E21B4/06Down-hole impacting means, e.g. hammers
    • E21B4/14Fluid operated hammers

Abstract

The invention discloses a kind of novel valve-type hydraulic impacters, the present invention includes central tube, two connectors being respectively communicated with central tube both ends, the jump bit for being separately positioned on two groups of impact assemblies at central tube both ends and being connect with two groups of impact assemblies, every group of impact assembly includes crossover sub, sealing-plug, valve pocket, it spool and holds and hits ring, the crossover sub, sealing-plug, central tube, valve pocket, it holds and hits ring and jump bit surrounds a plunger shaft, it is provided with tab through-hole on the connector, one end of the crossover sub is connect with the connector of corresponding side respectively.The present invention is worked using tributary pressure differential impactor, is effectively reduced the energy loss to drilling fluid, while reducing erosion and abrasive action of the drilling fluid to tool, is extended the service life of tool.

Description

A kind of novel valve-type hydraulic impacter
Technical field
The present invention relates to impactor fields, and in particular to a kind of novel valve-type hydraulic impacter.
Background technology
With being continuously increased for oil gas well drilling depth, the difficulty and cost of drilling well are also being multiplied, and improve drill bit and exist The rate of penetration of hard formation is extremely urgent, and rotary percussion drilling technology can convert the energy of drilling fluid to the axial punching of drill bit It hits, makes drill bit fractured rock under dynamic load effect, to greatly improve the rate of penetration of drill bit, while impactor is to drill bit High-frequency percussion can also reduce the stick-slip vibrations of PDC drill bit, play the role of protecting drill bit, improve bit life, to reduce Drilling cost.For such case, domestic and international experts and scholars conduct in-depth research hydraulic impacter, have investigated various Various forms of impactors, at present hydraulic impacter can be mainly divided into two kinds, one is jetting type hydraulic impacters, with double Steady jet stream original paper is as power part, and using the wall attachment effect of high-speed jet, distribution drilling fluid alternately enters lower part executing agency Upper and lower cavities, driving piston block stamp move back and forth, jump bit hit drill bit generate impact energy.But contain solid phase High-speed jet of the drilling fluid of grain in fluidic is easy to generate abrasion and erosion to fluidic, causes tool cannot be just Often work, influences its service life.Another kind is valve type hydraulic impacter, and basic functional principle is the friendship by fluid course For the upper and lower cavities that drilling fluid is assigned to jump bit are opened and closed, pushes jump bit to pump and generate impact.But It is that this kind of impactor realizes the sealing between movable part using a large amount of sealing loop mechanism, high-frequency impact for a long time is very It is easy to cause the wear out failure of sealing.Meanwhile both the above impactor is there is also the chock pressure difference to drilling fluid is big, to drilling fluid The big problem of energy loss.
Invention content
The technical problem to be solved by the present invention is to:A kind of novel valve-type hydraulical impact reducing drilling fluid energy loss is provided Device.
To solve the above-mentioned problems, the present invention includes central tube, two connectors being respectively communicated with central tube both ends, difference Two groups of impact assemblies at centrally disposed pipe both ends and the jump bit being connect with two groups of impact assemblies, every group of impact assembly Include crossover sub, sealing-plug, valve pocket, spool and hold and hit ring, the crossover sub, central tube, valve pocket, is held sealing-plug It hits ring and jump bit surrounds a plunger shaft, tab through-hole, one end point of the crossover sub are provided on the connector It does not connect with the connector of corresponding side, is connected by connecting cylinder between the other end of two crossover subs, ring setting is hit in described holding Between jump bit and connecting cylinder, the valve pocket is socketed between crossover sub and central tube, and sealing-plug setting exists Inlet opening is set on one end of corresponding side connector, the valve pocket in double wall space between valve pocket and central tube and goes out liquid Hole, the tab through-hole are connected to by inlet opening with plunger shaft, and apopore is provided on the crossover sub, and described goes out Fluid apertures is connected to by apopore with outside, and the spool is slidably arranged in valve pocket, and the upper and lower of spool is provided in valve pocket Locating part, the inlet opening and fluid hole correspond to the high-low limit position of spool, the both ends difference of the jump bit respectively It is connect with two spools, when two spools are during movement, one of spool is in open state, at another spool In closed state.
As an optimization, the invention also includes top cylinder, the top cylinder is arranged the interior intracavitary in valve pocket, top is provided in valve pocket Cylinder installation step, one end apical grafting of the top cylinder push up upper limit of the cylinder close to one end of spool for spool on sealing-plug The lower limit part of part, the spool is spool installation step.
As an optimization, the inlet opening on valve pocket of the present invention and fluid hole are separately arranged, and where fluid hole Diameter of section is more than the diameter of section where inlet opening.
As an optimization, the one end of valve pocket of the present invention far from sealing-plug is provided with protrusion, in the crossover sub It is provided with the groove with protrusions, the protrusion is inserted into groove.
As an optimization, interior positioning step is set in crossover sub of the present invention, is provided on the outside of the valve pocket Outer positioning step, the interior positioning step are inclined-plane with outer positioning step.
As an optimization, the both ends of jump bit of the present invention are connect by installation part with two spools, the installation Part includes nut, and the nut is connected through a screw thread with jump bit, and flexible positioned at the setting of the outside of nut on jump bit Baffle ring, the outer diameter of the nut are more than the internal diameter of spool.
As an optimization, jump bit of the present invention includes hammer body and is connected to the linkage section at hammer body both ends, the hammer The outer diameter of body and the internal diameter of connecting cylinder match, and hammer body circumferential direction is evenly arranged with several straight slots, the length of the straight slot Axial direction of the direction along hammer body;It is provided with long strip through hole on the linkage section.
As an optimization, wherein one end of jump bit of the present invention is provided with necking down, the central tube and necking down phase Corresponding one end is provided with increasing reducing, and the necking down is corresponding with reducing is increased.
As an optimization, the Brinell hardness for the inner headed face that the periphery of spool of the present invention and spool are in contact with valve pocket More than 55HRC, and surface roughness is less than 1.6, and the inner headed face of ring is hit in described holding and holding for jump bit hits the table that ring is in contact The arrangement hardness in face is more than 55HRC, and its surface roughness is less than 1.6.
The beneficial effects of the invention are as follows:The present invention is worked using tributary pressure differential impactor, is effectively reduced to drilling well The energy loss of liquid, while erosion and abrasive action of the drilling fluid to tool are reduced, extend the service life of tool.This hair Bright that the sealing elements such as sealing ring are eliminated between opposite movable part, using closed tolerance clearance fit, and mating surface passes through Special surface process increases its hardness and wearability, effectively prevents sealing caused by jump bit high-frequency reciprocating impacts Part Problem of Failure ensure that the operation is stable device of impactor, substantially increase the service life of impactor.
Description of the drawings
Fig. 1 is the schematic cross-sectional view of the top half of the present invention;
Fig. 2 is the schematic cross-sectional view of the lower half portion of the present invention;
Fig. 3 is C-C schematic cross-sectional views in Fig. 1;
Fig. 4 is the stereoscopic schematic diagram of crossover sub;
Fig. 5 is the stereoscopic schematic diagram of valve pocket;
Fig. 6 is the stereoscopic schematic diagram of jump bit.
Wherein:1, top connection, 2, upper crossover sub, 3, sealing ring, 4, upper sealing-plug, 5, upper valve sleeve, 6, upper top cylinder, 7, spiral shell Mother, 8, upper valve core, 9, jump bit, 10, central tube, 11, on hold and hit ring, 12, connecting cylinder, 13, under hold and hit ring, 14, lower conversion connects Head, 15, bottom spool, 16, lower top cylinder, 17, lower sealing-plug, 18, nut, 19, lower contact, 20, lower valve sleeve, 201, apopore, 202, groove, 501, inlet opening, 502, fluid hole, 503, protrusion, 901, linkage section, 902, long strip through hole, 903, hammer body, 904, Straight slot, A, upper piston chamber, B, lower piston chamber.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the present invention provided in the accompanying drawings The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of the selected implementation of the present invention Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts Every other embodiment, shall fall within the protection scope of the present invention.
It should be noted that:Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage Solution is instruction or implies relative importance.
Novel valve-type hydraulic impacter as shown in Figs. 1-3, including central tube 10, be respectively communicated with central tube 10 both ends Two connectors, two groups of impact assemblies for being separately positioned on 10 both ends of central tube and the jump bit 9 being connect with two groups of impact assemblies, institute Two connectors stated are respectively top connection 1 and lower contact 19, the both ends of the central tube 10 respectively with top connection 1 and lower contact 19 connections, and junction is provided with sealing ring 3.Two groups of impact assemblies include the upper impact assembly being connect with top connection 1 With the lower impact assembly being connect with lower contact 19, the upper impact assembly includes upper crossover sub 2, upper sealing-plug 4, upper valve sleeve 5, upper top cylinder 6, upper valve core 8 and on hold and hit ring 11, the upper crossover sub 2, upper sealing-plug 4, central tube 10, upper valve sleeve 5, on It holds and hits ring 11 and jump bit 9 surrounds upper piston chamber A, the upper crossover sub 2 is connected through a screw thread with top connection 1 and junction Be provided with sealing ring 3, be provided with tab through-hole in the top connection 1, the upper valve sleeve 5 be socketed in crossover sub 2 with Between central tube 10, in the double wall space that the upper sealing-plug 4 is arranged between upper valve sleeve 5 and central tube 10, and it is located at and leans on One end of nearly corresponding top connection 1, as shown in figure 4, inlet opening 501 and fluid hole 502 are set on the upper valve sleeve 5, it is described Inlet opening 501 and fluid hole 502 are located on non-same cross section, and the inlet opening 501 and fluid hole 502 correspond to respectively The high-low limit position of spool 8, the tab through-hole in the top connection 1 are connected to by inlet opening 501 with upper piston chamber A, such as Shown in Fig. 5, apopore 201 is provided on the upper crossover sub 2, the fluid hole 502 passes through apopore 201 and outside Connection, the upper valve core 8 are slidably arranged in upper valve sleeve 5, and upper top cylinder 6 is arranged in upper valve sleeve 5, and upper top cylinder 6 Upper end apical grafting on upper sealing-plug 4, play the role of axially position to upper sealing-plug 4, the lower end apical grafting of upper top cylinder 6 is in upper valve sleeve In 5 installation step, the lower face of upper top cylinder 6 forms the upper limit bit unit of upper valve core 8, and spool peace is additionally provided in upper valve sleeve 5 Step is filled, the spool installation step is the lower limit bit unit of upper valve core 8, and the lower impact assembly includes lower crossover sub 14, lower sealing-plug 17, lower valve sleeve 20, lower top cylinder 16, bottom spool 15 and under hold and hit ring 13, the lower crossover sub 14, under it is close Blocking 17, central tube 10, lower valve sleeve 20, under hold and hit ring 13 and jump bit 9 surrounds lower piston chamber B, the lower crossover sub 14 It is connected through a screw thread with lower contact 19 and junction is provided with sealing ring 3, the lower contact 19 is arranged with tab through-hole, institute The lower valve sleeve 20 stated is socketed between lower crossover sub 14 and central tube 10, the lower sealing-plug 17 setting lower valve sleeve 20 with In double wall space between central tube 10, and positioned at close to one end of lower contact 19, the knot of the lower valve sleeve 20 and upper valve sleeve Structure is identical, is also provided with inlet opening and fluid hole, and the inlet opening and fluid hole are located on non-same cross section, it is described into Fluid apertures and fluid hole correspond to the high-low limit position of bottom spool 15 respectively, and the tab through-hole in the lower contact 19 passes through feed liquor Hole is connected to lower piston chamber B, and the lower crossover sub 14 is identical as the structure of upper crossover sub, is also equipped with apopore, institute The fluid hole stated is connected to by apopore with outside, and the bottom spool 15 is slidably arranged in lower valve sleeve 20, the lower top Cylinder 16 is arranged in lower valve sleeve 20, and the lower end apical grafting of lower top cylinder 16, on lower sealing-plug 17, there have to lower sealing-plug 17 to be axial fixed The effect of position, for the upper end apical grafting of lower top cylinder 16 in the installation step of lower valve sleeve 20, the lower face of lower top cylinder 16 forms bottom spool 15 lower limit part, spool installation step is additionally provided in lower top cover 16, and the spool installation step is the upper of bottom spool 15 Locating part is connected between upper crossover sub 2 and lower crossover sub 14 by connecting cylinder 12, and connecting cylinder 12 and two crossover subs are logical Cross threaded connection, and junction is provided with sealing ring 3, it is described on hold hit ring 11 and under hold and hit ring 13 and be arranged at jump bit 9 In clip cavity between connecting cylinder 12, and on hold hit ring 11 and under hold and hit the both sides that ring 13 is located at hammer body 903, described rushes The both ends of hammer 9 are respectively arranged with nut 7 and nut 18, and the outer diameter of two nuts is respectively greater than the internal diameter of the spool of corresponding side, Nut 7 is located at the outside of upper valve core 8, and nut 18 is located at the outside of bottom spool 15, and is located at nut 7 and spiral shell on jump bit 9 The outside of mother 18 is both provided with circlip, and nut 7 and nut 18 is avoided to fall off.Its in the upper valve core 8 and bottom spool 15 In a state in the inlet opening for blocking valve pocket, another is in the state of fluid hole on valve pocket of blocking.
As shown in figure 5, the upper valve sleeve 5 described in the present embodiment is identical as the structure of lower valve sleeve 20, said by taking upper valve sleeve 5 as an example Bright, the inlet opening 501 and fluid hole 502 of upper valve sleeve 5 are separately arranged, and the diameter of section where fluid hole 502 is more than feed liquor Diameter of section where hole 501, that is, the outer surface that fluid hole 502 is arranged protrude from the outer surface of setting inlet opening 501, set in this way It sets and enters plunger shaft A convenient for ensureing that drilling fluid can pass through inlet opening 501.It designs as an optimization, the inlet opening 501 and there are four fluid hole 502 is respectively provided with, the interval angle between adjacent inlet opening 501 and fluid hole 502 is 45 °, accordingly Apopore 201 there are four being also provided on upper crossover sub 2.Described one end of upper valve sleeve 5 far from upper sealing-plug 4 is provided with protrusion 503, the groove 202 to match with protrusion 503 is provided in the upper crossover sub 2, and the protrusion 503 is inserted into groove In 202.It is that convenient upper crossover sub 2 positions upper valve sleeve 5 that protrusion 503, which is inserted into groove 202, is facilitated on upper valve sleeve 5 Fluid hole 502 it is corresponding with the apopore 201 on upper crossover sub 2.
As shown in fig. 6, the jump bit 9 described in the present embodiment includes hammer body 903 and the linkage section for being connected to 903 both ends of hammer body 901, the internal diameter of the outer diameter and connecting cylinder 12 of the hammer body 903 matches, and 903 circumferential direction of hammer body is evenly arranged with several logical Slot 904, along the axial direction of hammer body 903, the straight slot 904 can to rush for the length direction of the straight slot 904 The liquid of high pressure chest when moving back and forth of hammer 9 can rapidly enter low pressure chamber by straight slot 904;On the linkage section 901 It is provided with long strip through hole 902, the long strip through hole 902 was used for liquid.Wherein one end of the jump bit 9 is provided with contracting Neck, the necking down become smaller for bore, and the central tube 10 one end corresponding with necking down is provided with increasing reducing, that is, increase and become Outer diameter increases at diameter, and the necking down is corresponding with reducing is increased, i.e., the internal diameter at the necking down position of jump bit 9 is less than other positions, The outer diameter for increasing reducing position of central tube 10 is more than the outer diameter at other positions, and central tube 10 increases reducing position and jump bit 9 Necking down position is in contact connection, and there are gap, setting in this way detachment's necking down position and can increase reducing position and carry out at other positions Surface treatment can reduce the machined surface being in contact, and reduce processing cost.The periphery and spool of the spool and valve pocket phase The inner headed face of contact makes its Brinell hardness be more than 55HRC, and surface roughness is small by the processing of the surface processing techniques such as chromium plating In 1.6, the inner headed face of ring is hit in described holding and holding for jump bit hits the surface that ring is in contact and process work also by surfaces such as chromium plating The processing of skill makes it arrange that hardness is more than 55HRC, and its surface roughness is less than 1.6, i.e., is thrown at the position for generating relative motion The use for abandoning sealing element increases cooperation using closed tolerance clearance fit by carrying out surface treatment processing to the surface that is in contact Hardness between face and wearability extend the service life of impactor.
Operation principle:Drilling fluid enters plunger shaft A by the tab through-hole of top connection 1 and the inlet opening 501 of upper valve sleeve 5 In, cleaner for high-pressure drilling fluid impacts upper valve core 8, and upper valve core 8 moves downward through 7 impact of nut hammer 9 and moves downward, this bottom spool 15 states in the inlet opening sheltered from lower valve sleeve 20, cleaner for high-pressure drilling fluid are released stress by fluid hole, and jump bit 9 is downward During movement, bottom spool 15 is hit, bottom spool 15 is made to move downward, bottom spool 15 moves to limit inferior state and is in release Inlet opening blocks the state of fluid hole, and upper valve core 8 moves to limit inferior state and is in and blocks inlet opening 501 and release liquid at this time The state in hole 502, cleaner for high-pressure drilling fluid are entered to by the tab through-hole of lower contact 19 and the inlet opening of lower valve sleeve 20 in plunger shaft B, Cleaner for high-pressure drilling fluid impacts bottom spool 15, and bottom spool 15 is made to move upwards, and 15 impact of bottom spool hammer 9 moves upwards, bottom spool 15, which move to limes superiors state, is in the state for blocking inlet opening release fluid hole, and upper valve core 8 moves to limes superiors shape at this time State is in the state that release inlet opening blocks fluid hole.Above-mentioned steps are recycled, realize the reciprocating motion of jump bit 9.
Above-mentioned specific implementation mode is only the specific case of the present invention, and scope of patent protection of the invention includes but not limited to The product form and style of above-mentioned specific implementation mode, any claims of the present invention and any technical field of meeting The appropriate changes or modifications that those of ordinary skill does it, all shall fall within the protection scope of the present invention.

Claims (9)

1. a kind of novel valve-type hydraulic impacter, it is characterised in that:Two be respectively communicated with including central tube, with central tube both ends Connector, two groups of impact assemblies for being separately positioned on central tube both ends and the jump bit being connect with two groups of impact assemblies, described is every Group impact assembly includes crossover sub, sealing-plug, valve pocket, spool and holds and hit ring, the crossover sub, sealing-plug, center Pipe, valve pocket hold and hit ring and jump bit surrounds a plunger shaft, tab through-hole are provided on the connector, the conversion connects One end of head is connect with the connector of corresponding side respectively, is connected by connecting cylinder between the other end of two crossover subs, described It holds and hits ring setting between jump bit and connecting cylinder, the valve pocket is socketed between crossover sub and central tube, and described is close Be arranged close to one end of corresponding side connector in the double wall space that blocking is arranged between valve pocket and central tube, on the valve pocket into Fluid apertures and fluid hole, the tab through-hole are connected to by inlet opening with plunger shaft, and water outlet is provided on the crossover sub Hole, the fluid hole are connected to by apopore with outside, and the spool is slidably arranged in valve pocket, and is provided in valve pocket The locating part up and down of spool, the inlet opening and fluid hole correspond to the high-low limit position of spool, the jump bit respectively Both ends connect respectively with two spools, when two spools are during movement, one of spool is in open state, separately One spool is closed.
2. novel valve-type hydraulic impacter according to claim 1, it is characterised in that:Further include top cylinder, top cylinder Interior intracavitary in valve pocket is set, top cylinder installation step is provided in valve pocket, one end apical grafting of the described top cylinder on sealing-plug, and Upper limit part of the cylinder close to one end of spool for spool is pushed up, the lower limit part of the spool is spool installation step.
3. novel valve-type hydraulic impacter according to claim 1, it is characterised in that:Inlet opening on the valve pocket and Fluid hole is separately arranged, and the diameter of section where fluid hole is more than the diameter of section where inlet opening.
4. novel valve-type hydraulic impacter according to claim 3, it is characterised in that:The valve pocket is far from sealing-plug One end is provided with protrusion, and the groove with protrusions is provided in the crossover sub, and the protrusion is inserted into groove It is interior.
5. novel valve-type hydraulic impacter according to claim 3, it is characterised in that:In the crossover sub in setting Positioning step, outer positioning step is provided on the outside of the valve pocket, and the interior positioning step is inclined-plane with outer positioning step.
6. novel valve-type hydraulic impacter according to claim 1, it is characterised in that:The both ends of the jump bit pass through Installation part is connect with two spools, and the installation part includes nut, and the nut is connected through a screw thread with jump bit, and is rushed It is located on the outside of nut on hammer and is provided with circlip, the outer diameter of the nut is more than the internal diameter of spool.
7. the novel valve-type hydraulic impacter according to any one of claim 1-6, it is characterised in that:The impact Hammer includes hammer body and is connected to the linkage section at hammer body both ends, and the outer diameter of the hammer body and the internal diameter of connecting cylinder match, hammer body Circumferential direction is evenly arranged with several straight slots, the axial direction of the length direction of the straight slot along hammer body;The linkage section On be provided with long strip through hole.
8. novel valve-type hydraulic impacter according to claim 7, it is characterised in that:Wherein one end of the jump bit It is provided with necking down, central tube one end corresponding with necking down is provided with increasing reducing, and the necking down is opposite with reducing is increased It answers.
9. novel valve-type hydraulic impacter according to claim 1, it is characterised in that:The periphery and valve of the spool The Brinell hardness for the inner headed face that core is in contact with valve pocket is more than 55HRC, and surface roughness is less than 1.6, and ring is hit in described holding The arrangement hardness that the holding of inner headed face and jump bit hits the surface that ring is in contact is more than 55HRC, and its surface roughness is less than 1.6.
CN201810484105.7A 2018-05-19 2018-05-19 Valve type hydraulic impactor Active CN108487857B (en)

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Application Number Priority Date Filing Date Title
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CN108487857B CN108487857B (en) 2024-01-16

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CN109483580A (en) * 2018-12-29 2019-03-19 浙江大学 Shaft forgings assembly cooperation robot system
CN109630010A (en) * 2018-12-26 2019-04-16 中国石油大学(北京) A kind of high frequency dynamic load rock crushing tool and its application method
CN109676353A (en) * 2018-12-29 2019-04-26 浙江大学 Robot Peg-in-Hole assembles beating type end effector
CN115596347A (en) * 2022-12-15 2023-01-13 长沙黑金刚实业有限公司(Cn) Down-the-hole hammer

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CN107605396A (en) * 2017-11-22 2018-01-19 东北石油大学 A kind of shunting penetrates suction hydraulic impacter
CN208456494U (en) * 2018-05-19 2019-02-01 山东胜利石油装备产业技术研究院 A kind of novel valve-type hydraulic impacter
KR102004198B1 (en) * 2018-10-15 2019-10-01 이일재 Hydraulic valve and hydraulic percussion deivice

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ITMI922234A0 (en) * 1992-01-15 1992-09-28 Soosan Heavy Ind Co Ltd HYDROPNEUMATIC HAMMER
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Publication number Priority date Publication date Assignee Title
CN109630010A (en) * 2018-12-26 2019-04-16 中国石油大学(北京) A kind of high frequency dynamic load rock crushing tool and its application method
CN109630010B (en) * 2018-12-26 2020-04-24 中国石油大学(北京) High-frequency dynamic load rock breaking tool and using method thereof
CN109483580A (en) * 2018-12-29 2019-03-19 浙江大学 Shaft forgings assembly cooperation robot system
CN109676353A (en) * 2018-12-29 2019-04-26 浙江大学 Robot Peg-in-Hole assembles beating type end effector
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