CN112240167B - Automatic drill rod loading and unloading device of horizontal directional drill and construction method thereof - Google Patents
Automatic drill rod loading and unloading device of horizontal directional drill and construction method thereof Download PDFInfo
- Publication number
- CN112240167B CN112240167B CN202011099970.3A CN202011099970A CN112240167B CN 112240167 B CN112240167 B CN 112240167B CN 202011099970 A CN202011099970 A CN 202011099970A CN 112240167 B CN112240167 B CN 112240167B
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- drill rod
- drill
- storage part
- mechanical arm
- clamping
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/046—Directional drilling horizontal drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
Abstract
The invention discloses an automatic drill rod handling device of a horizontal directional drill and a construction method thereof, wherein the automatic drill rod handling device is arranged on a drill guide rail on a drill and comprises a drill rod grabbing unit, the drill rod grabbing unit is used for grabbing a drill rod and placing the drill rod at a preset position, and a clamping unit is arranged on the drill rod grabbing unit; a storage section for storing drill rods; a storage section rotating unit for controlling a position of the storage section, the storage section rotating unit being fixedly connected to the drill guide rail and the storage section rotating unit being connected with the storage section. The drill rod grabbing unit is used for directionally grabbing the drill rod and positioning the drill rod in the process of moving the drill rod, so that the installation efficiency of the drill rod is improved.
Description
Technical Field
The invention relates to the field of horizontal directional drilling, in particular to an automatic drill rod loading and unloading device of a horizontal directional drilling machine and a construction method thereof.
Background
The horizontal directional drilling machine is a construction machine for laying various underground utilities without digging ground surface, and is widely applied to the laying construction of flexible pipelines for water supply, electric power, telecommunication, natural gas, coal gas, petroleum and the like. The horizontal directional drilling technology is a new construction technology combining the directional drilling technology in the petroleum industry and the traditional pipeline construction method, and has the advantages of high construction speed, high construction precision, low cost and the like.
In order to complete the connection work of the drill rods, a drill rod loading and unloading device can be arranged on a drilling machine of the horizontal directional drill, a drill rod loading and unloading mechanism in the prior art is generally a hoisting device, workers fix the drill rods through steel wire ropes on the hoisting device and then hoist the drill rods to preset positions through the hoisting device, the drill rod loading and unloading efficiency is low in the mode, meanwhile, the hoisting device cannot be positioned, the workers need to manually position, and the problem of inconvenience in operation is solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic drill rod loading and unloading device of a horizontal directional drill and a construction method thereof, and aims to solve the problem that the horizontal directional drill is inconvenient to load and unload the drill rod in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the automatic drill rod handling device for the horizontal directional drill is arranged on a drill guide rail on a drill rig and comprises a drill rod grabbing unit, a drill rod clamping unit and a drill rod clamping unit, wherein the drill rod grabbing unit is used for grabbing a drill rod and placing the drill rod at a preset position;
a storage section for storing drill rods;
a storage section rotating unit for controlling a position of the storage section, the storage section rotating unit being fixedly connected to the drill guide rail and the storage section rotating unit being connected with the storage section.
As a further scheme of the invention, the drill rod grabbing unit comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, the first mechanical arm is fixedly connected to the drill guide rail, the second mechanical arm is hinged to one end, away from the drill guide rail, of the first mechanical arm, the third mechanical arm is hinged to one end, away from the first mechanical arm, of the second mechanical arm, corner modules are fixedly connected to the first mechanical arm and the second mechanical arm, an output shaft of the corner module mounted on the first mechanical arm is fixedly connected to the second mechanical arm, an output shaft of the corner module mounted on the second mechanical arm is fixedly connected to the third mechanical arm, one end, away from the second mechanical arm, of the third mechanical arm is further provided with a clamping unit for clamping a drill rod, and the corner modules are used for adjusting angles of the second mechanical arm and the third mechanical arm, so that the drill rod can be loaded and unloaded from the drilling driving mechanism.
As a further scheme of the present invention, the clamping unit includes a clamping motor, the clamping motor is fixedly connected to one end of the third mechanical arm away from the second mechanical arm, an output shaft of the clamping motor is connected to a worm, worm gears are disposed on two sides of the worm, the worm gears are mounted in the third mechanical arm and are engaged with the worm gears, and a clamping claw is fixedly connected to an output shaft of the worm gears.
As a further scheme of the invention, the clamping claws are bent plates, and the two groups of clamping claws are arranged oppositely.
As a further scheme of the invention, the storage part is a box body with an opening on one surface, a stop block for temporarily bearing a drill rod is also arranged on the drill guide rail, and the storage part is hinged on the stop block; the check block is a square block, and one end of the check block, which is far away from the guide rail of the drilling machine, is an arc surface.
As a further scheme of the invention, the storage part comprises two groups of end baffles and two groups of connecting rods, the end baffles are fixedly connected to two ends of the connecting rods, the connecting rods form a trapezoid on the end baffles, keels arranged in parallel with the end baffles are further arranged on the connecting rods, the keels are trapezoidal, support lugs are arranged on the end baffles, and hook mounting plates perpendicular to the end baffles are further arranged on the end baffles.
As a further scheme of the invention, the mouth part of the storage part is also provided with a baffle, and the edges of the baffle and the storage part are provided with openings which can only accommodate the through holes of the single drill rod.
As a still further aspect of the present invention, the storage portion rotating unit includes a driving motor, a rope winding roller and a cable, the driving motor and the rope winding roller are fixedly connected to the drill guide rail, the driving motor is connected to the rope winding roller, the driving motor drives the rope winding roller to rotate, one end of the cable is fixed to the rope winding roller, and one end of the cable, which is far away from the rope winding roller, is fixedly connected to the storage portion.
As a further aspect of the invention, the storage section rotating unit further comprises a guide wheel fixedly connected to the drill guide rail, the cable riding on the guide wheel.
The invention also relates to a construction method of the automatic drill rod loading and unloading device for the horizontal directional drill, which loads and unloads the drill rod through the automatic drill rod loading and unloading device for the horizontal directional drill and comprises the following steps:
s1, clamping a drill rod:
s1-1, adjusting the position of a storage part through a storage part rotating unit to enable the storage part to be in a downward inclined state, putting a drill rod into the storage part through a crane, and adjusting the position of the storage part through the storage part rotating unit to enable the storage part to be in a vertical state;
s1-2, adjusting the drill rod grabbing unit to enable the clamping unit to move to the mouth of the storage portion;
s1-3, adjusting the position of the storage part to enable the storage part to be in an upward inclined state through the storage part rotating unit, enabling the drill rod to roll off the clamping unit from the storage part, controlling the clamping unit to clamp the drill rod, and adjusting the position of the storage part to enable the storage part to be in a vertical state through the storage part rotating unit;
s1-4, adjusting a drill rod grabbing unit to enable a clamping unit to move to a drill hole driving mechanism located on a drill machine guide rail, and starting the drill hole driving mechanism and fixing a drill rod;
s1-5, repeating the actions of S1-2, SS1-2 and S1-4 until drilling is completed;
s2, disassembling the drill rod:
s2-1, adjusting the position of the storage part through a storage part rotating unit to enable the storage part to be in a downward inclined state;
s2-2, adjusting the drill rod grabbing unit to enable the clamping unit to move to be located at the drill hole driving mechanism on the drill machine guide rail, and enabling the clamping unit to clamp the drill rod located at the drill hole driving mechanism;
s2-3, adjusting the drill rod grabbing unit to enable the clamping unit to move to the opening of the storage part, loosening the drill rod by the clamping unit, and enabling the drill rod to slide down to the inside of the storage part under the action of gravity;
and S2-4, repeating the S2-2 and the S2-3 in sequence until the drill rod is completely dismantled.
In conclusion, compared with the prior art, the invention has the following beneficial effects:
1. the drill rod grabbing unit is used for directionally grabbing the drill rod and positioning the drill rod in the process of moving the drill rod, so that the installation efficiency of the drill rod is improved, and the drilling efficiency is improved.
2. According to the invention, the drill rod is automatically grabbed by the drill rod grabbing unit, so that the convenience of assembling and disassembling the drill rod is improved, and the operation of assembling and disassembling the drill rod is convenient.
3. The drill rod grabbing unit is used for automatically grabbing the drill rod, so that the safety of the drill rod assembling and disassembling work is improved, and the safety of workers is effectively protected.
Drawings
FIG. 1 is a schematic view of a drill pipe auto-handler for a horizontal directional drill in the installation of drill pipes;
FIG. 2 is a schematic structural view of the automatic drill pipe handling device for the horizontal directional drill for disassembling the drill pipe;
FIG. 3 is a schematic view of a clamping unit in the automatic pipe handling device for a horizontal directional drill;
FIG. 4 is a schematic view of a storage section in the pipe handling apparatus for a horizontal directional drill;
fig. 5 is a schematic structural diagram of a stop block in the automatic drill rod loading and unloading device of the horizontal directional drill.
Reference numerals are as follows: 1-a drill guide rail, 11-a drilling driving mechanism, 2-a drill rod grabbing unit, 21-a first mechanical arm, 22-a second mechanical arm, 23-a third mechanical arm, 24-a clamping claw, 25-a corner module, 26-a clamping motor, 27-a worm, 28-a worm wheel, 3-a storage part, 31-a support lug, 32-a hook, 33-an end baffle, 34-a connecting rod, 35-a keel, 36-a hook mounting plate, 4-a storage part rotating unit, 41-a driving motor, 42-a rope winding roller, 43-a guide wheel, 44-a cable, 5-a stop block, 6-a supporting seat and 7-a drill rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example 1
As shown in fig. 1 to 2, the automatic drill rod handling device for the horizontal directional drill is arranged on a drill guide rail 1 on a drill, and comprises a drill rod grabbing unit 2, wherein the drill rod grabbing unit 2 is used for grabbing a drill rod 7 and placing the drill rod 7 at a preset position, so that a drilling driving mechanism 11 on the drill guide rail 1 can handle the drill rod 7.
The drill rod grabbing unit 2 comprises a first mechanical arm 21, a second mechanical arm 22 and a third mechanical arm 23, the first mechanical arm 21 is fixedly connected to the drill guide rail 1, the second mechanical arm 22 is hinged to one end, away from the drill guide rail 1, of the first mechanical arm 21, the third mechanical arm 23 is hinged to one end, away from the first mechanical arm 21, of the second mechanical arm 22, a corner module 25 is fixedly connected to each of the first mechanical arm 21 and the second mechanical arm 22, an output shaft of the corner module 25 mounted on the first mechanical arm 21 is fixedly connected to the second mechanical arm 22, an output shaft of the corner module 25 mounted on the second mechanical arm 22 is fixedly connected to the third mechanical arm 23, a clamping unit for clamping the drill rod 7 is further arranged at one end, away from the second mechanical arm 22, of the third mechanical arm 23, the corner module 25 is used for adjusting the angles of the second mechanical arm 22 and the third mechanical arm 23, so that the drill rod 7 can be loaded and unloaded from the drilling drive mechanism 11, when the clamping unit clamps the drill rod 7, the corner module 25 on the first mechanical arm 21 and the second mechanical arm 22 simultaneously rotate around the second mechanical arm 23, so that the drill rod 7 can be moved on the drill rod guide rail 7 in a horizontal direction, and the drill rod swinging motion process of the second mechanical arm 22 and the drill rod 7, so that the drill rod 7 can be loaded and the drill rod 7 in a horizontal direction, the drill rod swinging motion process of the drill rod 7, and the drill rod swinging motion of the drill rod 7, and the drill rod swinging motion of the drill rod 7 in the drill rod positioning mechanism, and the drill rod positioning mechanism can be controlled by the swinging of the second mechanical arm 22, the positioning is not needed manually, so that the assembling and disassembling time of the drill rod 7 is saved, and the assembling and disassembling efficiency of the drill rod 7 is improved.
As shown in fig. 3, the clamping unit includes a clamping motor 26, the clamping motor 26 is fixedly connected to one end of the third mechanical arm 23 away from the second mechanical arm 22, a worm 27 is connected to an output shaft of the clamping motor 26, worm wheels 28 are arranged on both sides of the worm 27, the worm wheels 28 are mounted in the third mechanical arm 23 through bearings, the worm 27 is meshed with the worm wheels 28, clamping claws 24 are fixedly connected to output shafts of the worm wheels 28, the clamping claws 24 are bent plates, the two groups of clamping claws 24 are arranged oppositely, when the clamping motor 26 is energized to rotate, the clamping motor 26 drives the worm 27 to rotate, the worm wheels 28 on both sides can be driven to rotate in opposite rotation directions when the worm 27 rotates, so that the worm wheels 28 drive the clamping claws 24 to swing in a manner of approaching to or separating from each other, and further the clamping claws 24 can clamp the drill rod 7 or loosen the drill rod 7;
the storage part 3 is used for storing drill rods 7, the storage part 3 is a box body with an opening on one side, one end of the storage part 3 is hinged to the drill guide rail 1, the storage part 3 is connected with a storage part rotating unit 4 used for driving the storage part 3 to rotate on the drill guide rail 1, the storage part rotating unit 4 enables the storage part 3 to pour out the drill rods 7 in the storage part 3 or enables the storage part 3 to receive the drill rods 7 by controlling the position of the storage part 3, a stop block 5 used for temporarily bearing the drill rods 7 is further arranged on the drill guide rail 1, the storage part 3 is hinged to the stop block 5, as shown in fig. 5, the stop block 5 is a square block, one end of the stop block 5, far away from the drill guide rail 1, is an arc surface, when the storage part 3 is in an upward inclined state under the action of the storage part rotating unit 4, the drill rods 7 in the storage part 3 roll down on the stop block 5, so that the drill rod grabbing unit 2 is convenient to grab the 7, then the drill rod grabbing unit 2 moves the drill rod 7 to the drilling driving mechanism 11, when the storage part 3 is in an upward inclined state under the action of the storage part 4, at least one group of the drill rod grabbing unit 5, the drill rod grabbing unit 5 is arranged, and at least one group of the drill rod grabbing unit 2 is arranged in a downward inclined state, and the drill rod grabbing unit 5 is arranged on the storage part 2, and the drill rod grabbing unit 5;
the storage part rotating unit 4 comprises a driving motor 41, a rope winding roller 42 and a cable 44, wherein the driving motor 41 and the rope winding roller 42 are fixedly connected to the drill guide rail 1, the driving motor 41 is connected with the rope winding roller 42, the driving motor 41 drives the rope winding roller 42 to rotate, one end of the cable 44 is fixed on the rope winding roller 42, one end of the cable 44, which is far away from the rope winding roller 42, is fixedly connected to the storage part 3, when the driving motor 41 is electrified to rotate, the driving motor 41 drives the rope winding roller 42 to rotate, when the rope winding roller 42 rotates, the rope winding roller 42 can wind the cable 44, so that the cable 44 pulls the storage part 3 to rotate on the drill guide rail 1, when the driving motor 41 rotates reversely, the rope winding roller 42 loosens the cable 44, the storage part 3 falls under the action of gravity, and the angle of the storage part 3 is changed;
preferably, two ends of the drill guide rail 1 are also fixedly connected with supporting seats 6, two groups of storage part rotating units 4 are arranged, and the storage part rotating units 4 are fixedly connected to the supporting seats 6;
preferably, the storage part rotating unit 4 further comprises a guide wheel 43, the guide wheel 43 is fixedly connected to the drill guide rail 1, and the cable 44 is lapped on the guide wheel 43, so that the cable 44 is prevented from being in sliding connection with the support seat 6 to cause abrasion of the cable 44;
as shown in fig. 4, the storage portion 3 includes end baffles 33 and a connecting rod 34, two sets of end baffles 33 are provided, the end baffles 33 are fixedly connected to two ends of the connecting rod 34, the connecting rod 34 encloses a trapezoid on the end baffles 33, a keel 35 parallel to the end baffles 33 is further provided on the connecting rod 34, the keel 35 is trapezoidal, so that the connecting rod 34 can bear the drill rod 7, the end baffles 33 are provided with lugs 31, the end baffles 33 are further provided with hook mounting plates 36 perpendicular to the end baffles 33, and the hook mounting plates 36 are provided with hooks 32 for connecting cables 44.
Preferably, the mouth of the storage part 3 is further provided with a baffle, and the edge of the baffle and the storage part 3 is provided with an opening which can only accommodate a through hole of a single drill rod 7, and the drill rod 7 enters from the opening, so that the storage part 3 is prevented from rolling down from the storage part 3 in the rotating process.
Example 2
A method for loading and unloading a drill rod of a horizontal directional drill is characterized in that:
s1, clamping a drill rod 7:
s1-1, starting a driving motor 41, enabling the driving motor 41 to drive a rope winding roller 42 to rotate, controlling the length of a cable 44 wound on the rope winding roller 42 through the driving motor 41 so as to control the angle of a storage part 3, enabling the storage part 3 to be in a downward inclination state through the driving motor 41, placing a drill rod 7 on a stop block 5 through a crane, enabling the drill rod 7 to slide down into the storage part 3 from the stop block 5 when the crane loosens the drill rod 7, sequentially carrying out the steps until the storage part 3 is filled with the drill rod 7, then conveying a horizontal directional drill to a preset position, and enabling the rope winding roller 42 to rotate through the driving motor 41 so as to enable the storage part 3 to be in a vertical position;
s1-2, starting a corner module 25, driving a second mechanical arm 22 and a third mechanical arm 23 to swing when the corner module 25 rotates reversely, controlling a clamping unit to move to the position of a stop block 5 through the corner module 25, controlling a clamping motor 26 to rotate reversely, driving a worm 27 to rotate reversely by the clamping motor 26, driving a worm wheel 28 to rotate when the worm 27 rotates, and driving a clamping claw 24 to be spread by the worm wheel 28;
s1-3, starting a driving motor 41, driving the rope winding roller 42 to rotate in the forward direction by the driving motor 41, winding a cable 44 by the rope winding roller 42, pulling the storage part 3 to rotate upwards by the cable 44, rolling the drill rod 7 from the storage part 3 onto the stop block 5 when the storage part 3 inclines upwards, controlling the worm 27 to rotate in the forward direction by the clamping motor 26 when the drill rod 7 is positioned between the two groups of clamping claws 24, driving the worm wheel 28 to rotate in the forward direction by the worm 27, and driving the clamping claws 24 to clamp the drill rod 7 by the worm wheel 28; the driving motor 41 is controlled to rotate reversely, when the rope winding roller 42 rotates reversely, the cable 44 is loosened, and the storage part 3 rotates downwards under the action of gravity;
s1-4, controlling the corner module 25 to rotate in the forward direction, controlling the second mechanical arm 22 and the third mechanical arm 23 to swing towards the direction of the drilling driving mechanism 11 by the corner module 25, driving the clamping unit to move to the position of the drilling driving mechanism 11 by the second mechanical arm 22 and the third mechanical arm 23, so as to drive the drill rod 7 to move to the position of the drilling driving mechanism 11, starting the drilling driving mechanism 11, installing the drill rod 7 on the drill guide rail 1 by the drilling driving mechanism 11, controlling and controlling the clamping motor 26 to rotate in the reverse direction, driving the worm 27 to rotate in the reverse direction by the clamping motor 26, driving the worm wheel 28 to rotate when the worm 27 rotates, and driving the clamping claw 24 to be spread by the worm wheel 28;
s1-5, repeating the actions of S1-2, S1-3 and S1-4 until drilling is completed;
s2, disassembling the drill rod 7:
s2-1, adjusting the position of the storage part 3: starting the driving motor 41, the driving motor 41 drives the rope winding roller 42 to rotate, the length of the rope 44 wound on the rope winding roller 42 is controlled through the driving motor 41, so that the angle of the storage part 3 is controlled, and the driving motor 41 controls the storage part 3 to be in a downward inclined state;
s2-2, controlling the clamping motor 26 to rotate reversely, controlling the clamping motor 26 to drive the worm 27 to rotate reversely, driving the worm wheel 28 to rotate when the worm 27 rotates, driving the clamping claw 24 to expand by the worm wheel 28, controlling the corner module 25 to rotate forwardly, controlling the second mechanical arm 22 and the third mechanical arm 23 to swing towards the direction of the drilling driving mechanism 11 by the corner module 25, driving the clamping unit to move to the position of the drilling driving mechanism 11 by the second mechanical arm 22 and the third mechanical arm 23, controlling the worm 27 to rotate forwardly by the clamping motor 26 when the drilling driving mechanism 11 has the drill rod 7, driving the worm wheel 28 to rotate forwardly by the worm 27, and driving the clamping claw 24 to clamp the drill rod 7 by the worm wheel 28;
s2-3, after the drill rod 7 is detached from the drilling driving mechanism 11, the corner module 25 is controlled to rotate reversely, the corner module 25 controls the second mechanical arm 22 and the third mechanical arm 23 to swing towards the direction of the storage part 3, the clamping unit moves to the position of the stop block 5 under the action of the second mechanical arm 22 and the third mechanical arm 23, the clamping motor 26 is controlled to rotate reversely, the clamping motor 26 drives the worm 27 to rotate reversely, the worm 27 drives the worm wheel 28 to rotate when rotating, the worm wheel 28 drives the clamping claw 24 to be unfolded, and the drill rod 7 slides into the storage part 3 from the clamping unit under the action of gravity;
s2-4, repeating the step S2-2 and the step S2-3 in sequence until the drill rod 7 is completely dismantled.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The automatic drill rod loading and unloading device for the horizontal directional drill is installed on a drill guide rail (1) on a drill rig, and is characterized by comprising a drill rod grabbing unit (2), wherein the drill rod grabbing unit (2) is used for grabbing a drill rod (7) and placing the drill rod (7) to a preset position, and a clamping unit for clamping the drill rod (7) is arranged on the drill rod grabbing unit (2);
a storage section (3), the storage section (3) being used for storing drill rods (7);
a storage section rotating unit (4), wherein the storage section rotating unit (4) is used for controlling the position of the storage section (3), the storage section rotating unit (4) is fixedly connected to the drill guide rail (1), and the storage section rotating unit (4) is connected with the storage section (3);
the drill rod grabbing unit (2) comprises a first mechanical arm (21), a second mechanical arm (22) and a third mechanical arm (23), the first mechanical arm (21) is fixedly connected to the drill guide rail (1), the second mechanical arm (22) is hinged to one end, away from the drill guide rail (1), of the first mechanical arm (21), the third mechanical arm (23) is hinged to one end, away from the first mechanical arm (21), of the second mechanical arm (22), corner modules (25) are fixedly connected to the first mechanical arm (21) and the second mechanical arm (22), an output shaft of each corner module (25) mounted on the first mechanical arm (21) is fixedly connected with the second mechanical arm (22), an output shaft of each corner module (25) mounted on the second mechanical arm (22) is fixedly connected with the third mechanical arm (23), one end, away from the second mechanical arm (22), of the third mechanical arm (23) is further provided with a clamping unit for clamping a drill rod (7), and the corner modules (25) are used for adjusting angles of the second mechanical arm (22) and the third mechanical arm (23), so that a drill rod (11) can be driven to be loaded and unloaded from the drill hole;
the storage part (3) is a box body with an opening on one surface, a stop block (5) for temporarily bearing a drill rod (7) is further arranged on the drill guide rail (1), and the storage part (3) is hinged on the stop block (5); the stop block (5) is a square block, and one end of the stop block (5) far away from the drill guide rail (1) is provided with an arc surface;
the storage part (3) comprises end baffles (33) and connecting rods (34), two groups of end baffles (33) are arranged, the end baffles (33) are fixedly connected to two ends of the connecting rods (34), the connecting rods (34) enclose the end baffles (33) to form a trapezoid, keels (35) parallel to the end baffles (33) are further arranged on the connecting rods (34), the keels (35) are trapezoid, support lugs (31) are arranged on the end baffles (33), and hook mounting plates (36) perpendicular to the end baffles (33) are further arranged on the end baffles (33);
a baffle is arranged at the opening part of the storage part (3), and openings which can only allow a single drill rod (7) to pass through are formed in the edges of the baffle and the storage part (3);
the storage part rotating unit (4) comprises a driving motor (41), a rope winding roller (42) and a cable (44), the driving motor (41) and the rope winding roller (42) are fixedly connected to the guide rail (1) of the drilling machine, the driving motor (41) is connected with the rope winding roller (42), the driving motor (41) drives the rope winding roller (42) to rotate, one end of the cable (44) is fixed to the rope winding roller (42), and one end, far away from the rope winding roller (42), of the cable (44) is fixedly connected to the storage part (3).
2. The automatic drill rod handling device of the horizontal directional drill according to claim 1, wherein the clamping unit comprises a clamping motor (26), the clamping motor (26) is fixedly connected with one end of the third mechanical arm (23) far away from the second mechanical arm (22), a worm (27) is connected to an output shaft of the clamping motor (26), worm wheels (28) are arranged on two sides of the worm (27), the worm wheels (28) are installed in the third mechanical arm (23), the worm (27) is meshed with the worm wheels (28), and clamping claws (24) are fixedly connected to output shafts of the worm wheels (28).
3. The automatic drill rod handling device of a horizontal directional drill according to claim 2, characterized in that the clamping jaws (24) are bent plates, and the two sets of clamping jaws (24) are arranged oppositely.
4. The automatic drill rod handling device of a horizontal directional drill according to claim 1, characterized in that the storage section rotating unit (4) further comprises a guide wheel (43), the guide wheel (43) is fixedly connected to the drill guide rail (1), and the cable (44) is bridged on the guide wheel (43).
5. A construction method of a drill rod auto-loading and unloading device of a horizontal directional drill, characterized in that the construction method adopts the drill rod auto-loading and unloading device of the horizontal directional drill of any one of claims 1 to 4 to load and unload a drill rod (7), comprising the steps of:
s1, clamping a drill rod (7):
s1-1, adjusting the position of a storage part (3) through a storage part rotating unit (4) to enable the storage part (3) to be in a downward inclined state, putting a drill rod (7) into the storage part (3) through a crane, and adjusting the position of the storage part (3) through the storage part rotating unit (4) to enable the storage part (3) to be in a vertical state;
s1-2, adjusting the drill rod grabbing unit (2) to enable the clamping unit to move to the mouth of the storage part (3);
s1-3, adjusting the position of the storage part (3) to enable the storage part to be in an upward inclined state through the storage part rotating unit (4), rolling a drill rod (7) from the storage part (3) to the clamping unit, controlling the clamping unit to clamp the drill rod (7), and adjusting the position of the storage part (3) to enable the drill rod to be in a vertical state through the storage part rotating unit (4);
s1-4, adjusting the drill rod grabbing unit (2) to enable the clamping unit to move to a drill hole driving mechanism (11) located on the drill machine guide rail (1), and starting the drill hole driving mechanism (11) and fixing the drill rod (7);
s1-5, repeating the actions of S1-2, S1-3 and S1-4 until drilling is completed;
s2, disassembling the drill rod (7):
s2-1, adjusting the position of the storage part (3) through the storage part rotating unit (4) to enable the storage part (3) to be in a downward inclined state;
s2-2, adjusting the drill rod grabbing unit (2) to enable the clamping unit to move to a drilling driving mechanism (11) located on the drill machine guide rail (1), and clamping the drill rod (7) located at the drilling driving mechanism (11) by the clamping unit;
s2-3, adjusting the drill rod grabbing unit (2) to enable the clamping unit to move to the opening of the storage part (3), loosening the drill rod (7) by the clamping unit, and enabling the drill rod (7) to slide down to the inside of the storage part (3) under the action of gravity;
s2-4, repeating the S2-2 and the S2-3 in sequence until the drill rod (7) is completely removed.
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| CN113530478B (en) * | 2021-08-04 | 2023-09-15 | 国能神东煤炭集团有限责任公司 | Device and method for loading and unloading drill rod |
| CN116446792B (en) * | 2023-05-18 | 2024-03-12 | 中国水利水电第十工程局有限公司 | Construction equipment and construction method for municipal drainage pipeline |
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| US7694751B2 (en) * | 2007-07-12 | 2010-04-13 | Vermeer Manufacturing Company | Apparatus and method of loading a rod box for a horizontal directional drill |
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| CN106437561A (en) * | 2016-12-02 | 2017-02-22 | 江苏谷登工程机械装备有限公司 | Angle-adjustable type large mechanical hand device |
| CN109577886A (en) * | 2018-10-23 | 2019-04-05 | 中煤科工集团西安研究院有限公司 | It is a kind of suitable for underground coal mine drilling machine automatic plus to unload lever apparatus |
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