CN113294092B - Automatic drilling machine and drilling operation method - Google Patents

Automatic drilling machine and drilling operation method Download PDF

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Publication number
CN113294092B
CN113294092B CN202110491583.2A CN202110491583A CN113294092B CN 113294092 B CN113294092 B CN 113294092B CN 202110491583 A CN202110491583 A CN 202110491583A CN 113294092 B CN113294092 B CN 113294092B
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China
Prior art keywords
drill rod
drilling
drill
main
mechanical arm
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CN113294092A (en
Inventor
赵希栋
刘洪涛
赵志强
贾后省
江文渊
镐振
刘保康
霍天宏
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North China Institute of Science and Technology
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North China Institute of Science and Technology
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
    • E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK 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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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

The application provides an automatic drilling machine and a drilling operation method. The solution is used for performing a drilling operation on a rock formation, comprising: the first moving chassis is provided with a fixed bracket; the second moving chassis is connected with the first moving chassis and follows the first moving chassis; the main drilling part is arranged on the fixed support and can be used for filling a drill rod and drilling the drill rod into a preset position of the rock stratum or withdrawing the drill rod which completes the drilling operation from the rock stratum; the drill rod warehouse is flexibly connected to the second movable chassis and can store a plurality of drill rods; the mechanical arm is arranged on the first moving chassis or the second moving chassis and can move the drill rods stored in the drill rod storage to the main drilling part for filling; or the drill rod which finishes the drilling operation on the main drilling part is disassembled and moved to the drill rod warehouse for storage.

Description

Automatic drilling machine and drilling operation method
Technical Field
The application belongs to the technical field of drilling construction, and particularly relates to an automatic drilling machine and a drilling operation method.
Background
In the process of roadway (tunnel) tunneling and coal mining, operations such as water exploration and drainage, gas drainage and the like are often required due to safety requirements, and drilling operation is required for the operations. China is a big coal country and a big capital construction country, and only newly excavated roadways (tunnels) reach thousands of kilometers every year. With the continuous promotion of the mechanization process in China, at present, the mechanization of drilling operation is basically popularized, with the increasing of the labor cost year by year and the urgent need of workers for reducing the labor amount, the automation and the intellectualization of drilling construction are in great tendency.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The present application is directed to an automated drilling rig and a method of drilling to solve or alleviate the above-mentioned problems of the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
an automated drilling rig for performing a drilling operation on a rock formation, comprising: the first moving chassis is provided with a fixed bracket; the second moving chassis is connected with the first moving chassis and follows the first moving chassis; the main drilling part is arranged on the fixed support, can be filled with a drill rod, and drills the drill rod into a preset position of the rock stratum, or withdraws the drill rod which completes the drilling operation from the rock stratum; the drill rod warehouse is flexibly connected to the second movable chassis and can store a plurality of drill rods; the mechanical arm is arranged on the first moving chassis or the second moving chassis and can move the drill rods stored in the drill rod storage to the main drilling part for filling; or the drill rod which finishes the drilling operation on the main drilling part is disassembled and moved to the drill rod warehouse for storage.
Optionally, in any embodiment of the present application, the robot arm includes: the first mechanical arm is movably arranged on the fixed support, can move along the axis direction of the fixed support and rotate around the axis of the fixed support, and is used for moving the drill rod to the main drill part for packing; or, the drill rod on the main drill part for drilling operation is disassembled; the second mechanical arm is arranged on the second movable chassis, can take out the drill rods stored in the drill rod storage and transmits the drill rods to the first mechanical arm; or receiving the drill rod which is transferred by the first mechanical arm and is withdrawn from the main drilling part, and storing the drill rod in the drill rod warehouse.
Optionally, in any embodiment of the present application, the drill rod is placed in the drill rod magazine in a direction opposite to the installation direction of the drill rod on the main drill section.
Optionally, in any embodiment of the present application, the first robot arm includes: the mechanical gripper base is movably arranged on the fixed support, is positioned above the main drilling part, can move along the axial direction of the fixed support and rotates around the axis of the fixed support; the first connecting part is fixedly connected to the mechanical gripper base; the second connecting part is rotatably connected with the first connecting part, and the axis of the second connecting part, which is rotatably connected with the first connecting part, is vertical to the axis of the fixed bracket; and the first mechanical gripper is fixedly connected with the second connecting part and is used for gripping the drill rod which is unloaded from the main drilling part and transferring the drill rod to the second mechanical arm, or gripping the drill rod transferred by the second mechanical arm and moving the drill rod to the main drilling part for filling.
Optionally, in any embodiment of the present application, the second mechanical arm includes: the telescopic sliding table is slidably mounted on the second movable chassis and can telescopically move on the second movable chassis; and the second mechanical gripper is rotatably arranged on the telescopic sliding table, can move along with the movement of the telescopic sliding table, and is used for gripping the drill rods in the drill rod warehouse and transmitting the drill rods to the first mechanical arm, or receiving the drill rods which are transmitted by the first mechanical arm and are withdrawn from the main drilling part and storing the drill rods in the drill rod warehouse.
Optionally, in any embodiment of the present application, the telescopic sliding table includes: the first sliding rail is fixedly arranged on the top surface of the drill rod library; the two opposite surfaces of the first telescopic part are respectively provided with a first sliding chute and a second sliding rail, wherein the first sliding chute is matched with the first sliding rail and can telescopically move along the first sliding rail; and the bottom surface of the second telescopic part is provided with a second sliding groove, and the top surface opposite to the second sliding groove is rotatably connected with the second mechanical gripper, wherein the second sliding groove is matched with the second sliding rail and can move along the second sliding rail in a telescopic manner.
Optionally, in any embodiment of the present application, the first mechanical gripper rotates to the same side as the second mechanical gripper to cooperate with the second mechanical gripper for transferring the drill rod; the first mechanical hand grip and the main drilling part are respectively positioned on two sides of the fixed support.
Optionally, in any embodiment of the application, a plurality of positioning columns are arranged on the first moving chassis, and correspondingly, a plurality of positioning holes are arranged on the second moving chassis, and the plurality of positioning holes correspond to the plurality of positioning columns one to one.
Optionally, in any embodiment of the present application, the drill rod magazine is flexibly connected to the second moving chassis through a plurality of buffer springs, and the plurality of buffer springs are arranged along a circumferential direction of the drill rod magazine.
The embodiment of the present application further provides a drilling operation method, where the automatic drilling machine according to any one of the above embodiments performs drilling operation on a rock formation, including: adjusting the automatic drilling machine to reach a preset drilling position of drilling operation, and fixing the automatic drilling machine; after the filled drill rod is drilled into the rock stratum, the main drilling part of the automatic drilling machine is separated from the drill rod drilled into the rock stratum; the mechanical arm of the automatic drilling machine moves the drill rods stored in the drill rod library of the automatic drilling machine to the main drilling part for filling, so that the main drilling part continues to perform drilling operation until the drill rod library of the automatic drilling machine drills into a preset position of the rock stratum; and the mechanical arm retreats the drill rod which finishes the drilling operation on the main drilling part and moves the drill rod to the drill rod warehouse for storage.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
according to the technical scheme for drilling on the rock stratum, the first movable chassis and the second movable chassis which are connected are arranged and follow up, so that the whole width of the automatic drilling machine is favorably reduced, and the requirement of narrow space in a roadway on the size of equipment is met; arranging a main drilling part on a fixed support of a first movable chassis, arranging a drill rod library on a second movable chassis, moving drill rods in the drill rod library to the main drilling part through a mechanical arm arranged on the first movable chassis or the second movable chassis for filling, and performing drilling operation; or the drill rod which finishes the drilling operation is unloaded from the main drilling part and moved to the drill rod warehouse for storage. Therefore, the automation of the drilling operation is realized, the labor cost is effectively reduced, the labor amount of workers is reduced, more drill rods can be provided for the main drilling part, the drill rods can be arranged, and the efficiency of the drilling operation is effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
FIG. 1 is a schematic structural diagram of an automated drilling rig provided in accordance with some embodiments of the present application;
FIG. 2 is another schematic structural view of an automated drilling rig provided in accordance with some embodiments of the present application;
fig. 3 is a schematic mechanical diagram of a first robot provided in accordance with some embodiments of the present application;
FIG. 4 is a schematic illustration of a connection of a first mobile chassis and a second mobile chassis provided in accordance with some embodiments of the present application;
FIG. 5 is a schematic illustration of the mounting of a first robot, a main drill section, on a first mobile chassis provided in accordance with some embodiments of the present application;
fig. 6 is a schematic view of an assembly of a first robot arm and a stationary support provided in accordance with some embodiments of the present application;
fig. 7 is an assembly schematic of a first robot provided in accordance with some embodiments of the present application;
FIG. 8 is a schematic structural view of an up-down mover provided in accordance with some embodiments of the present application;
FIG. 9 is an assembly schematic of a main drill mounting body provided according to some embodiments of the present application
FIG. 10 is a schematic flow diagram of a method of drilling operations provided in accordance with some embodiments of the present application; .
Description of reference numerals:
100-a first mobile chassis; 200-a second mobile chassis; 300-a main drill part; 400-drill pipe warehouse; 500-a robotic arm; 600-a thread transfer drum; 700-main drill mounting body;
101-a fixed support; 111-rotating part; 121-a fixed part; 501-a first mechanical arm; 511-mechanical gripper base; 511A-a second motor; 511B-second gear; 521-a first connecting component; 531-second connecting member; 541-a first mechanical gripper; 541A-a fixed splint; 541B-telescopic splint; 515-up-and-down moving part; 515A-rotating ring gear; 515B-first gear; 515C — first motor; 502-a second robotic arm; 512-telescopic sliding table; 512A-first sliding rail; 512B-first telescoping section; 512C-second telescoping section; 522-a second mechanical gripper; 701-a third motor; 702-a third gear; 901-positioning columns; 902-positioning holes; 903-a buffer spring; 904-second clamping surface; 905-first clamping surface.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
As shown in fig. 1-4, the automated drilling rig for performing a drilling operation on a formation, comprises: the device comprises a first movable chassis 100, wherein a fixed bracket 101 is arranged on the first movable chassis 100; a second moving chassis 200 flexibly connected to the first moving chassis 100 and following the first moving chassis 100; a main drill part 300 fixedly installed on the fixed bracket 101, capable of being filled with a drill rod and drilling the drill rod into a predetermined position of the rock formation, or withdrawing the drill rod having completed the drilling operation from the rock formation; a drill rod storage 400 flexibly connected to the second movable chassis 200 and capable of storing a plurality of drill rods; a robot 500 mounted on the first moving chassis 100 or the second moving chassis 200, and configured to move the drill rods stored in the drill rod magazine 400 to the main drilling unit 300 for loading; or, the drill rod on the main drill part 300 after the drilling operation is removed, and the drill rod is moved to the drill rod storage 400 for storage. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the first mobile chassis 100 and the second mobile chassis 200 are both of a crawler-type chassis structure, so that the passing performance of the automatic drilling machine in a roadway is effectively improved; meanwhile, the first mobile chassis 100 and the second mobile chassis 200 are connected by a conveying device, so that the first mobile chassis 100 and the second mobile chassis 200 can move along with each other, and water, energy (for example, power) and the like can be supplied to the main drilling part 300 during the drilling operation of the main drilling part 300. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first mobile chassis 100 and the second mobile chassis 200 may be hinged to each other, so as to further enhance the flexibility and maneuverability of the automatic drilling machine, so as to adapt to complex road conditions in a roadway. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In the embodiment of the present application, the fixing bracket 101 includes: the support connecting part and the drilling machine mounting part are cylindrical structures, and the diameter of the cross section of the support connecting part is larger than that of the cross section of the drilling machine mounting part; the bracket connection part is fixedly installed on the first moving chassis 100, the drill installation part is fixedly connected with the fixed bracket 101, and the drill installation part is coaxial with the bracket connection part. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this application embodiment, be equipped with the support mounting boss on the first removal chassis, support mounting boss and leg joint looks adaptation to install the leg joint portion on the support mounting boss. For example, a plurality of threaded holes are formed in the bracket mounting boss, correspondingly, a plurality of connecting through holes are formed in the bracket connecting portion, and the mounting bolt penetrates through the connecting through holes to be connected with the threaded holes, so that the bracket connecting portion is mounted on the bracket mounting boss. A plurality of threaded holes are uniformly distributed along the circumferential direction of the mounting boss, so that the reliability of the fixing bracket 101 on the first moving chassis 100 is effectively improved. Alternatively, the bracket coupling portion is welded to the bracket mounting boss, thereby fixing the fixing bracket 101 to the first moving chassis 100. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the drill mounting part can be welded with the bracket connecting part and can also be detachably connected through a flange; the position of the main drill part 300 on the drill mounting part may be determined according to the actual condition of the drilling work (e.g., the drilling height); the connection of the main drilling part 300 and the drilling machine installation part can adopt the fixed connection forms such as welding, riveting and the like; and detachable connection forms such as clamping connection, threaded connection and the like can also be adopted. Further, the main drilling part 300 can slide along the installation part of the drilling machine to adapt to drilling positions with different heights, and after the main drilling part 300 is adjusted to the height of the drilling position along the axial direction of the installation part of the drilling machine, the main drilling part 300 is fixed on the installation part of the drilling machine to prevent the main drilling part 300 from sliding on the installation part of the drilling machine in the process of drilling operation, so that the drilling precision is effectively ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the drill rod library 400 is flexibly connected to the second moving chassis 200, on one hand, in the moving process of the automatic drilling machine, the mutual collision possibly generated due to the movement of a plurality of drill rods in the drill rod library 400 can be effectively reduced, and the damage possibly caused by the drill rods in the drill rod library 400 can be reduced; on the other hand, when the position deviation exists between the first moving chassis 100 and the second moving chassis 200 during the drilling process of the automatic drilling machine, the position of the drill rod library 400 is finely adjusted through the flexible connection of the drill rod library 400, so that the mechanical arm 500 can move the drill rod from the drill rod library 400 to the main drilling part 300 for filling. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this application embodiment, drilling rod storehouse 400 is the box structure, and a plurality of drilling rods are put with predetermined mode in the box, and simultaneously, be equipped with the drilling rod at the top of box structure and get and put the mouth to arm 500 gets from the drilling rod and puts the mouth and stretch into the box of drilling rod storehouse 400, takes out the drilling rod from drilling rod storehouse 400, perhaps puts with predetermined mode in putting drilling rod storehouse 400 with the drilling rod from drilling rod getting and putting the mouth. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the mechanical arm 500 is a multi-degree-of-freedom mechanical arm 500, and has multiple degrees of freedom in movement and rotation, so as to take out the drill rods stored in the drill rod magazine 400 from the drill rod pick-and-place port, and move the drill rods to the main drilling part 300 for packing; or, the drill rod completing the drilling operation on the main drilling part 300 is unloaded, moved to the drill rod warehouse 400, and extends into the drill rod taking and placing port to be placed in a preset mode. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In the embodiment of the application, the first mobile chassis 100 and the second mobile chassis 200 which are connected are arranged, and the first mobile chassis 100 and the second mobile chassis 200 follow up, so that the whole width of the automatic drilling machine is favorably reduced, and the requirement of narrow space in a roadway on the size of equipment is met; arranging the main drilling part 300 on a fixed bracket 101 of a first movable chassis 100, arranging a drill rod library 400 on a second movable chassis 200, moving drill rods in the drill rod library 400 to the main drilling part 300 through a mechanical arm 500 arranged on the first movable chassis 100 or the second movable chassis 200 for filling, and performing drilling operation; alternatively, the drill rods that have completed the drilling operation are removed from the main drill unit 300, and moved to the drill rod magazine 400 for storage. Therefore, the automation of the drilling operation is realized, the labor cost is effectively reduced, the labor amount of workers is reduced, more drill rods can be provided for the main drilling part 300, the drill rods can be arranged, and the efficiency of the drilling operation is effectively improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the robotic arm 500 comprises: a first mechanical arm 501 movably mounted on the fixed support 101, capable of moving along the axial direction of the fixed support 101 and rotating around the axis of the fixed support 101, for moving the drill rod to the main drilling part 300 for packing; or, the drill rod on the main drill part 300 for drilling operation is disassembled; a second robot 502 mounted on the second mobile chassis 200, and capable of taking out the drill rods stored in the drill rod magazine 400 and transferring the drill rods to the first robot 501; alternatively, the drill rods unloaded from the main drill unit 300 transferred by the first robot 501 are received and stored in the drill rod magazine 400. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, by providing the first robot arm 501 on the fixed support 101 of the first mobile chassis 100 and providing the second robot arm 502 on the second mobile chassis 200, the second robot arm 502 takes out the drill rod from the drill rod magazine 400 and transfers the drill rod to the main drill by the first robot arm 501 without packing, or the first robot arm 501 unloads the drill rod for drilling operation on the main drill part 300 and transfers the drill rod to the drill rod magazine 400 by the second robot arm 502. Therefore, the first mechanical arm 501 and the second mechanical arm 502 can be flexibly arranged, more degrees of freedom can be realized, and the requirements on automation and intellectualization of drilling construction are met. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, in order to facilitate the first robot 501 to load the drill pipe in the main drilling portion 300 and facilitate the drill pipe transfer between the first robot 501 and the second robot 502, the first robot 501 is movably mounted on the fixed support 101, so that the first robot 501 can move along the axial direction of the fixed support 101 and rotate along the axial direction of the fixed support 101. For example, the first mechanical arm 501 is sleeved on the fixed support 101 and can slide up and down along the fixed support 101, and when the first mechanical arm 501 slides to a set position, the sliding part of the first mechanical arm 501 is clasped on the fixed support 101, so that the first mechanical arm 501 can be fixed on the fixed support 101 in the up-down direction; the sliding portion of the first robot arm 501 is a fixed portion and a rotating portion, wherein the fixed portion clasps the outer sidewall of the fixed bracket 101, and the sliding portion can rotate around the fixed portion to drive the robot arm 500 to rotate along the axis of the fixed bracket 101. It should be understood that the above description is only illustrative and not restrictive in any way.
As shown in fig. 5 to 9, in the embodiment of the present application, the fixed bracket 101 is rotatably mounted on the upper end surface of the first moving chassis 100, and the fixed bracket 101 may be formed by an integral molding process to improve the structural mechanical property of the fixed bracket 101; a split type process may also be employed to improve the convenience of installation, transportation, and maintenance of the fixed bracket 101 on the basis of ensuring the structural mechanical properties of the fixed bracket 101. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the fixing bracket 101 includes: a rotating part 111 and a fixing part 121, wherein the rotating part 111 is a disc-shaped structure and is rotatably mounted on the upper end surface of the first moving chassis 100 through a rotating support, and an axis of the rotating support is the first axis; the fixing portion 121 is a column structure and is fixedly mounted at the center of the upper end surface of the rotating portion 111 in the vertical direction. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the rotating portion 111 is not limited to a disc-shaped structure, but may also be a rectangular structure, and the specific structure may be determined according to the installation space and shape on the first moving chassis 100. The rotating portion 111, which is in the form of a disc, facilitates connection with the crawler chassis via a rotating support, which is mounted below the rotating portion 111. The fixing portion 121 is fixedly mounted in the center of the upper end face of the rotating portion 111, so that the stress condition of the fixing support 101 can be improved, the bearing capacity of the fixing support 101 is uniformly distributed on the first moving chassis 100, and the stability of the automatic drilling machine can be improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the fixing portion 121 is designed to be a cylindrical structure, which not only meets the structural performance requirement of the main drill portion 300 during drilling operation, but also facilitates the convenience of installing and maintaining the first robot 501 on the fixing portion 121. Here, the fixing portion 121 may be designed to have a cylindrical structure, a prismatic structure, or the like. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the first robot 501 comprises: an up-down moving part 515, a mechanical gripper base 511 and a first mechanical gripper 541, wherein the down-hill moving part is sleeved on the fixed bracket 101 and can move up and down along the first axis; the mechanical gripper base 511 is sleeved outside the up-down moving part 515, can move together with the up-down moving part 515, and can rotate around the first axis relative to the up-down moving part 515; the first mechanical gripper 541 is fixedly installed on the mechanical gripper base 511, and is configured to grip a drill rod stored in the drill rod magazine, or assist the main drilling unit 300 in removing the drill rod that completes the drilling operation. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In this embodiment of the application, the up-down moving part 515 moves up and down on the fixed support 101 along the first axis to drive the first mechanical arm 501 to move up and down, so that the first mechanical arm 501 effectively adapts to the height difference between the drill rod in the drill rod library and the main drilling part 300 to grab the drill rod stored in the drill rod library, or assist the main drilling part 300 to remove the drill rod after the drilling operation. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, a first motor 515C is disposed at an upper end of the up-down moving part 515, and an output end of the first motor 515C is engaged with a rack on the fixed bracket 101 through a first gear 515B, wherein the rack extends along the first axial direction. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the up-down moving part 515 is a cylindrical structure, an installation plane is arranged on the outer side wall of the upper end, a first motor 515C is installed on the installation plane, and the output end of the first motor 515C is connected to the first gear 515B; the centre of gravity of the mounting plane is provided with a u-shaped opening in which the first gear 515B is located. The center of the up-down moving part 515 is provided with an up-down moving hole (for example, a square cross section) matching with the fixing bracket 101 along the first axial direction, and the up-down moving part 515 is sleeved on the fixing bracket 101 through the up-down moving hole. Correspondingly, a rack is provided on the fixing support 101 along the first axial direction, and the rack faces the u-shaped opening, so that the first gear 515B is engaged with the rack. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In another specific example, a rotating gear ring 515A is axially disposed at a lower end of the up-and-down moving part 515, and correspondingly, a second motor 511A is disposed on the mechanical gripper base 511, and an output end of the second motor 511A is engaged with the rotating gear ring 515A through a second gear 511B, so as to drive the mechanical gripper base 511 to rotate around the first axis relative to the up-and-down moving part 515. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the outer side surface of the up-down moving part 515 is a cylindrical surface, and a circular mounting hole adapted to the outer side surface of the up-down moving part 515 is formed in the middle of the mechanical gripper base 511, so that the mechanical gripper base 511 is sleeved on the up-down moving part 515 through the circular mounting hole. The mechanical hand grip base 511 is provided with a second motor 511A, an output end of the second motor 511A is connected to a second gear 511B, and the second gear 511B is engaged with the rotation gear ring 515A, whereby the mechanical hand grip base 511 can be rotated about the first axis with respect to the up-down moving part 515 by the second motor 511A. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In another specific example, the first mechanical hand 541 includes a fixed clamp plate 541A and a retractable clamp plate 541B; the fixed clamp plate 541A is connected to the mechanical gripper base 511, a first clamping surface 905 is arranged on the fixed clamp plate 541A, the telescopic clamp plate 541B is telescopically connected to the fixed clamp plate 541A, a second clamping surface 904 is arranged on the telescopic clamp plate 541B, and the telescopic clamp plate 541B can move relative to the fixed clamp plate 541A so that the drill rod is clamped by the cooperation of the second clamping surface 904 and the first clamping surface 905; the first clamping surface 905 is a 1/2 arc surface, and the second clamping surface is composed of a 1/4 arc surface and a plane. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In the embodiment of the present application, the fixed clamp 541A is located inside the automatic drilling machine, and the retractable clamp 541B is located outside the automatic drilling machine, so that when a drill rod is clamped, the drill rod is clamped by the cooperation of the second clamping surface 904 on the retractable clamp 541B and the first clamping surface 905 on the fixed clamp 541A. The first clamping surface 905 is designed to be a 1/2 arc surface, the second clamping surface 904 is designed to be a combination of a 1/4 arc surface and a plane, and when the first clamping surface extends outwards, a drill rod can freely fall into the drill rod storage. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific application scenario, the fixed clamp plate 541A is connected to the mechanical gripper base 511 through a first telescopic cylinder, and can be driven by the first telescopic cylinder to move in a telescopic manner relative to the mechanical gripper base 511; the retractable splint 541B is connected to the fixed splint 541A through a second retractable cylinder, and is movable relative to the fixed splint 541A under the driving of the second retractable cylinder, wherein the second retractable cylinder is located on the upper portion of the fixed splint 541A. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the first telescopic cylinder and the second telescopic cylinder can be air cylinders, oil cylinders and the like. One end of the first telescopic cylinder is fixedly connected to the mechanical gripper base 511, for example, fixedly connected to one side of the mechanical gripper base 511; the other end of the first telescopic cylinder is fixedly connected to the fixed clamp 541A, for example, at a central portion of an outer side surface of the fixed clamp 541A. The cylinder of the second telescopic cylinder may be fixedly connected to the outer side of the fixed clamp 541A, and the lever of the second telescopic cylinder is fixedly connected to the inner side of the telescopic clamp 541B to drive the telescopic clamp 541B to move. The number of the second telescopic cylinders can be two, and the two second telescopic cylinders are arranged in parallel along the axial direction when the drill rod is clamped, so that the drill rod can be clamped more effectively.
It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the automated drilling rig further comprises: a main drill mounting body 700, the main drill mounting body 700 rotatably mounting the main drill portion 300 thereon such that the main drill portion 300 can be tilted about the second axis relative to the main drill mounting body 700; the main drill mounting body 700 is sleeved on the fixed bracket 101 to drive the main drill part 300 to move up and down along the first axis.
It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the main drill mounting body 700 is a cylindrical structure, a main drill mounting table is disposed on an outer side surface of the cylindrical structure, and the main drill portion 300 is rotatably mounted on the main drill mounting table, and can perform pitching motion around a second axis to adjust a drilling angle. A through hole along the first axial direction is formed in the middle of the main drill mounting body 700, so that the main drill mounting body 700 is sleeved on the fixing support 101 and is located below the first mechanical arm 501. The third motor 701 is installed on the side face of the main drill installation body 700, the output end of the third motor 701 is connected with the third gear 702, correspondingly, a gear hole is formed in the side face of the main drill installation body 700, the third gear 702 penetrates through the gear hole to be meshed with the rack on the fixed support 101, so that the main drill installation body 700 is driven to move up and down along the first axis under the driving of the third motor 701, the height of the main drill part 300 is adjusted, and the main drill installation body is suitable for drilling operations with different heights in a roadway. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the first movable chassis 100 is adopted, so that the passing performance of the automatic drilling machine is effectively improved; the fixed support 101 is rotatably arranged on the crawler chassis to drive the main drilling part 300 to rotate in the horizontal plane, so that the drilling operation can be performed on the periphery of a roadway under the condition that the first movable chassis 100 does not move, and the working range of the automatic drilling machine is effectively enlarged; the main drilling part 300 is rotatably arranged on the fixed support 101, so that the main drilling part 300 can perform pitching swing relative to the fixed support 101, drilling operation at different angles is performed in a roadway, and the working range of the automatic drilling machine is further expanded; moving the drill rods stored in the drill rod storage to the main drill part 300 for packing by a first mechanical arm 501; or, the drill rods on the main drilling part 300 after completing the drilling operation are disassembled and moved to the drill rod warehouse for storage, so that the automation of the drilling operation is realized, the labor cost is effectively reduced, the labor amount of workers is reduced, more drill rods can be provided for the main drilling part 300, the drill rods can be arranged, and the efficiency of the drilling operation is effectively improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first mechanical arm 501 and the second mechanical arm 502 need to cooperate with each other to transfer the drill rod, so that there is a positioning requirement for the first mechanical arm 501 and the second mechanical arm 502 during the movement process, so as to transfer the drill rod more accurately. For example, during the installation process of the first robot 501 and the second robot 502, the positioning requirements of the first robot 501 and the second robot 502 are achieved by ensuring that the first robot 501 is located on the same side of the first mobile chassis 100 or the second mobile chassis 200 when transferring the drill rod with the second robot 502. Meanwhile, by enabling the first mechanical arm 501 and the second mechanical arm 502 to be located on the same side, the position influence between the drill rod and the main drilling part 300 when the drill rod is transferred between the first mechanical arm 501 and the second mechanical arm 502 is effectively avoided. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, the direction of placement of the drill rod in the drill rod magazine is opposite to the direction of installation of the drill rod on the main drill portion 300. Therefore, after the second mechanical arm 502 takes out the drill rod from the drilling driving warehouse, the drill rod is transmitted to the first mechanical arm 501, and the first mechanical arm 501 drives the drill rod to rotate 180 degrees around the fixed support 101, so that the direction of the drill rod is exactly the direction required for drilling; the first mechanical arm 501 drives the drill rod to move up and down until the drill rod reaches a preset position, and the drill rod is smoothly filled in the main drilling part 300. It should be understood that the above description is only illustrative and not restrictive in any way.
In another specific example, the first robot 501 includes: a mechanical gripper base 511 movably mounted on the fixed bracket 101, located above the main drilling part 300, capable of moving along the axial direction of the fixed bracket 101 and rotating around the axis of the fixed bracket 101; a first connecting member 521 fixedly connected to the mechanical gripper base 511; a second connection part 531 rotatably connected to the first connection part 521, wherein an axis of the second connection part 531 rotatably connected to the first connection part 521 is perpendicular to an axis of the fixing bracket 101; and a first mechanical gripper 541 fixedly connected to the second connection unit 531, configured to grip the drill rod that is unloaded from the main drill 300 and transfer the drill rod to the second mechanical arm 502, or grip the drill rod that is transferred by the second mechanical arm 502 and move the drill rod to the main drill 300 for loading. It should be understood that the above description is only illustrative and not restrictive in any way.
In the embodiment of the present application, the mechanical gripper base 511 may move in the axial direction of the fixed bracket 101 and rotate along the axis of the fixed bracket 101. Specifically, mechanical pivot base includes: the fixing part and the rotating part are both of circular structures and are sleeved on the fixing support 101; the rotating part is rotatably connected with the fixed part, so that the rotating part can rotate around the axis of the circular ring-shaped structure of the rotating part; the fixed portion is connected with the fixed bracket 101 in a sliding manner, and can drive the rotating portion to move on the fixed bracket 101 along the axial direction of the fixed bracket 101. For example, corresponding sliding grooves and sliding rails are arranged on the inner side wall of the annular structure of the fixing part and the outer side wall of the fixing bracket 101. Wherein, the axis of the fixed bracket 101 coincides with the axis of the annular structure of the fixed part and the rotating part. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the present embodiment, the fixing portion moves up and down along the axis of the fixing bracket 101, thereby achieving the movement of the first mechanical hand 541 in the vertical direction; the first connecting component 521 is fixedly connected with the rotating part of the mechanical hand grip base 511 and can rotate on the fixed part around the axis of the fixed bracket 101 along with the rotating part, so that the rotation of the mechanical hand grip in a horizontal plane is realized; the second coupling part 531 is rotatably coupled to the first coupling part 521 with a rotation axis perpendicular to that of the fixed bracket 101, thereby achieving rotation of the first mechanical gripper 541 in a vertical plane. Therefore, the multi-degree-of-freedom movement of the mechanical hand grip is realized through the relative movement among the fixed bracket 101, the mechanical hand grip base 511, the first connecting part 521 and the second connecting part 531, so that the drill rod is moved to the main drilling part 300 for filling or the drill rod at the main drilling part 300 is unloaded. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In another specific example, the second mechanical arm 502 includes: a telescopic sliding table 512 slidably mounted on the second moving chassis 200 and capable of telescopic movement on the second moving chassis 200; and a second mechanical gripper 522 rotatably mounted on the telescopic sliding table 512, capable of moving along with the movement of the telescopic sliding table 512, and configured to grip the drill rod in the drill rod magazine 400 and transfer the drill rod to the first mechanical arm 501, or receive the drill rod, which is transferred by the first mechanical arm 501 and is withdrawn from the main drilling unit 300, and store the drill rod in the drill rod magazine 400. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the first robot 501 is installed on the fixed support 101 of the first mobile chassis 100, the second robot 502 is installed on the second mobile chassis 200, and the first mobile chassis 100 and the second mobile chassis 200 are connected in parallel in the front and back directions, so that in order to transfer the drill rod between the first robot 501 and the second robot 502, the telescopic sliding table 512 is used for telescopic movement in the front and back directions on the second mobile chassis 200, so as to change the front and back distance between the first robot 501 and the second robot 502, and the first robot 501 and the second robot 502 can transfer the drill rod more conveniently. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the present embodiment, a second mechanical gripper 522 is provided on telescoping slide 512, and when telescoping slide 512 is retracted, second mechanical gripper 522 may remove a drill rod from drill rod magazine 400 or place a drill rod in magazine 400 in a predetermined manner; when the telescopic sliding table 512 extends out, the second mechanical rotating hand and the first mechanical rotating hand can transfer the drill rods. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the drill rod magazine 400 may be a box structure, the drill rods are placed in the box according to a predetermined manner, the box is provided with a drill rod access, and the second mechanical gripper 522 is a multi-freedom manipulator, and may extend into the box through the drill rod access to take in and take out the drill rods. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In a specific application scenario, the first mechanical gripper 541 rotates to the same side as the second mechanical gripper 522 to cooperate with the second mechanical gripper 522 for the transfer of the drill rod; the first mechanical hand 541 and the main drilling part 300 are respectively located at two sides of the fixed bracket 101. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the present embodiment, when the first mechanical gripper 541 and the second mechanical gripper 522 transfer a drill rod, the first mechanical gripper 541 rotates to be located on the same side of the drilling machine as the second mechanical gripper 522; the first mechanical gripper 541 and the main drill part 300 are respectively located at two opposite sides of the fixed bracket 101, so that when the drill rod is transferred, the position of the main drill part 300 is prevented from being obstructed, and the transfer of the drill rod is smoother. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific application scenario, the telescopic sliding table 512 includes: a first slide rail 512A fixedly mounted on the top surface of the drill rod magazine 400; a first telescopic arm 512B, two opposite surfaces of which are respectively provided with a first sliding chute and a second sliding rail, wherein the first sliding chute and the first sliding rail 512A are adapted to each other and can move telescopically along the first sliding rail 512A; a second sliding groove is formed in the bottom surface of the second telescopic portion 512C, and the top surface opposite to the second sliding groove is rotatably connected with the second mechanical gripper 522, wherein the second sliding groove is matched with the second sliding rail and can move along the second sliding rail in a telescopic manner. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first sliding slot and the first sliding rail 512A are mutually matched to move, and the second sliding slot and the second sliding rail are mutually matched to move, so that the second mechanical gripper 522 mounted on the second telescopic part 512C can have a larger working range. Set up first spout and second slide rail respectively on the relative two sides of first flexible arm 512B, set up second spout and second manipulator respectively on the relative two sides of second pars contractilis 512C, under the prerequisite that satisfies second arm 502 working requirement, make the structure of second work arm compacter. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
Further, the cross sections of the first slide rail 512A and the first slide groove are both dovetail groove-shaped; and/or the cross sections of the second sliding rail and the second sliding chute are dovetail groove-shaped. Therefore, in the mutual moving process of the first sliding rail 512A and the first sliding chute, the centering effect of the first telescopic arm 512B can be ensured, so that the first telescopic arm 512B moves along the central line of the length direction of the first sliding rail 512A, the stability of the first telescopic arm 512B in moving is ensured, and the possible relative displacement between the first telescopic arm 512B and the first sliding rail 512A in the sliding process is effectively avoided; in the process of mutual movement of the second slide rail and the second slide groove, the centering effect of the second telescopic portion 512C can be ensured, so that the second telescopic portion 512C moves along the central line of the second slide rail in the length direction, the stability of the second telescopic portion 512C in movement is ensured, and the relative displacement between the second telescopic portion 512C and the second slide rail 512A, which may occur in the sliding process, is limited. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, a plurality of positioning pillars 901 are disposed on the first moving chassis 100, and correspondingly, a plurality of positioning holes 902 are disposed on the second moving chassis 200, and the plurality of positioning holes 902 correspond to the plurality of positioning pillars 901 one to one. Thereby, the relative displacement between the first moving chassis 100 and the second moving chassis 200 is avoided, and the stability between the first moving chassis 100 and the second moving chassis 200 is ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the positioning column 901 is disposed on the end surface of the first moving chassis 100 opposite to the second moving chassis 200; a positioning hole 902 is provided on the second moving chassis 200 at an end surface opposite to the first moving chassis 100; that is, the positioning columns 901 and the positioning holes 902 are respectively located on the opposite end surfaces of the first moving chassis 100 and the second moving chassis 200 when they are connected. When the automatic drilling machine moves to a drilling operation position, the positioning column 901 is inserted into the positioning hole 902, so that the first movable chassis 100 and the second movable chassis 200 are fixedly connected, the whole automatic drilling machine is kept stable, and further, the first mechanical arm 501 and the second mechanical arm 502 are respectively kept stable on the first movable chassis 100 and the second movable chassis 200, which is beneficial to transferring drill rods between the first mechanical arm 501 and the second mechanical arm 502. Meanwhile, after the positioning column 901 is inserted into the positioning hole 902, the first moving chassis 100 and the second moving chassis 200 are kept stable, which is beneficial to drilling operation on rock strata. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In some alternative embodiments, the rod magazine 400 is flexibly connected to the second moving chassis 200 by a plurality of buffer springs 903, and the plurality of buffer springs 903 are arranged along the circumference of the rod magazine 400. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the positioning hole 902 may be disposed on a surface of the drill rod magazine 400 opposite to the first moving chassis 100, and the positioning column 901 and the positioning hole 902 may be matched with each other, so that the drill rod magazine 400 may be fixed relative to the first moving chassis 100, and stability in transferring drill rods between the first mechanical arm 501 and the second mechanical arm 502 is ensured. A buffer spring 903 is arranged between the drill rod library 400 and the second movable chassis 200, so that when the positioning column 901 is inserted into the positioning hole 902, even if there is a certain deviation in the position between the positioning column 901 and the positioning hole 902, the deviation can be eliminated by the buffer spring 903. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the second moving chassis 200 is further provided with a thread feeding roller 600, and a power supply line or a water supply pipeline can be wound on the thread feeding roller 600; the thread feeding roller 600 can be rotated according to the advance or retreat of the automatic drilling machine, and release or retraction of the power supply line or the water supply pipeline is realized. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the thread transferring roller 600 is mounted on the second movable chassis 200 through a roller bracket, and the roller bracket is rotatably connected to the thread transferring roller 600, for example, the thread transferring roller 600 is rotatably connected between ear plates symmetrically arranged on the roller bracket; the roller bracket may be fixedly mounted on the second moving chassis 200 by riveting, welding, bolting, etc. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the line feeding roller 600 and the rod magazine 400 are arranged on the second moving chassis 200 in parallel along the front-rear direction of the second moving chassis 200, wherein the rod magazine 400 is located between the line feeding roller 600 and the first moving chassis 100. Thereby, the second mechanical arm 502 is facilitated to take and put the drill rod from the drill rod storage 400, and the transfer of the drill rod between the second mechanical arm 502 and the first mechanical arm 501. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In the embodiment of the application, the first mobile chassis 100 and the second mobile chassis 200 both adopt crawler-type chassis, so that the passing performance of the automatic drilling machine is effectively improved. Of course, the first mobile chassis 100 and the second mobile chassis 200 may also be chassis using tires to increase the moving speed of the automated drilling machine. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
An embodiment of the present application further provides a method for performing a drilling operation on a rock formation by using the automatic drilling machine provided in any one of the above embodiments, as shown in fig. 10, where the method includes:
s101, adjusting the automatic drilling machine to reach a preset drilling position of drilling operation, and fixing the automatic drilling machine;
s102, after the filled drill rod is drilled into the rock stratum by a main drilling part of the automatic drilling machine, the filled drill rod and the drill rod drilled into the rock stratum fall off;
s103, moving the drill rods stored in a drill rod library of the automatic drilling machine to the main drill part by a mechanical arm of the automatic drilling machine for filling, and continuing to perform drilling operation by the main drill part until the drill rod is drilled into a preset position of the rock stratum;
and S104, the mechanical arm unloads the drill rods which finish the drilling driving operation on the main drilling part, and moves the drill rods to the drill rod warehouse for storage.
The drilling operation method provided by the embodiment of the application adopts the automatic drilling machine provided by any one of the embodiments to perform drilling operation, can achieve the effect of the automatic drilling machine of any one of the embodiments, and is not repeated here.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (7)

1. An automated drilling rig for performing a drilling operation on a formation, comprising:
the first moving chassis is provided with a fixed bracket;
the second moving chassis is flexibly connected with the first moving chassis and follows the first moving chassis;
the main drilling part is arranged on the fixed support and can be used for filling a drill rod and drilling the drill rod into a preset position of the rock stratum or withdrawing the drill rod which completes the drilling operation from the rock stratum;
the drill rod warehouse is flexibly connected to the second movable chassis and can store a plurality of drill rods;
the mechanical arm is arranged on the first moving chassis and the second moving chassis and can move the drill rods stored in the drill rod storage to the main drilling part for filling; or the drill rod on the main drilling part which completes the drilling operation is disassembled and moved to the drill rod warehouse for storage; wherein the robot arm includes: a first mechanical arm and a second mechanical arm;
the first mechanical arm is movably arranged on the fixed support, can move along the axis direction of the fixed support and rotate around the axis of the fixed support, and is used for moving the drill rod to the main drill part for filling; or, the drill rod for drilling operation on the main drilling part is disassembled; wherein the first robot arm comprises: the mechanical gripper comprises a mechanical gripper base, a first connecting part, a second connecting part and a first mechanical gripper; the mechanical gripper base is movably arranged on the fixed support, is positioned above the main drilling part, can move along the axial direction of the fixed support and can rotate around the axis of the fixed support; the first connecting part is fixedly connected to the mechanical gripper base; the second connecting part is rotatably connected with the first connecting part, and the axis of the second connecting part rotatably connected with the first connecting part is vertical to the axis of the fixed bracket; the first mechanical gripper is fixedly connected with the second connecting part and is used for gripping the drill rod which is unloaded from the main drilling part and transferring the drill rod to the second mechanical arm, or gripping the drill rod transferred by the second mechanical arm and moving the drill rod to the main drilling part for filling;
the second mechanical arm is arranged on the second movable chassis, can take out the drill rods stored in the drill rod warehouse and transfers the drill rods to the first mechanical arm; or receiving the drill rods which are transferred by the first mechanical arm and are withdrawn from the main drilling part, and storing the drill rods in the drill rod warehouse; wherein the second mechanical arm comprises: the telescopic sliding table and the second mechanical gripper; the telescopic sliding table is slidably mounted on the second movable chassis and can telescopically move on the second movable chassis; the second mechanical gripper is rotatably mounted on the telescopic sliding table, can move along with the movement of the telescopic sliding table, and is used for gripping the drill rods in the drill rod warehouse and transmitting the drill rods to the first mechanical arm, or receiving the drill rods which are transmitted by the first mechanical arm and are withdrawn from the main drilling part and storing the drill rods in the drill rod warehouse.
2. The automated drilling rig of claim 1, wherein a placement direction of the drill rod in the drill rod magazine is opposite to a mounting direction of the drill rod on the main drill section.
3. The automated drilling rig of claim 1, wherein the telescoping slide comprises:
the first sliding rail is fixedly arranged on the top surface of the drill rod library;
the two opposite surfaces of the first telescopic part are respectively provided with a first sliding chute and a second sliding rail, wherein the first sliding chute is matched with the first sliding rail and can telescopically move along the first sliding rail;
and the bottom surface of the second telescopic part is provided with a second sliding groove, and the top surface opposite to the second sliding groove is rotatably connected with the second mechanical gripper, wherein the second sliding groove is matched with the second sliding rail and can move along the second sliding rail in a telescopic manner.
4. The automated drilling rig of claim 1, wherein the first mechanical gripper rotates to the same side as the second mechanical gripper to cooperate with the second mechanical gripper for transfer of the drill rod; the first mechanical hand grip and the main drilling part are respectively positioned on two sides of the fixed support.
5. The automated drilling machine according to claim 1, wherein a plurality of positioning posts are provided on the first movable chassis, and correspondingly, a plurality of positioning holes are provided on the second movable chassis, and a plurality of positioning holes correspond to a plurality of positioning posts one to one.
6. The automated drilling rig according to any one of claims 1 to 5, wherein the rod magazine is flexibly connected to the second moving chassis by a plurality of buffer springs, the plurality of buffer springs being arranged in a circumferential direction of the rod magazine.
7. A method of performing a drilling operation on a formation with the automated drilling rig according to any one of claims 1-6, comprising:
adjusting the automatic drilling machine to reach a preset drilling position of drilling operation, and fixing the automatic drilling machine;
after the filled drill rod is drilled into the rock stratum, the main drilling part of the automatic drilling machine is separated from the drill rod drilled into the rock stratum;
the mechanical arm of the automatic drilling machine moves the drill rods stored in the drill rod library of the automatic drilling machine to the main drilling part for filling, so that the main drilling part continues to perform drilling operation until the drill rod library of the automatic drilling machine drills into a preset position of the rock stratum;
and the mechanical arm retreats the drill rod which finishes the drilling operation on the main drilling part and moves the drill rod to the drill rod warehouse for storage.
CN202110491583.2A 2021-05-06 2021-05-06 Automatic drilling machine and drilling operation method Active CN113294092B (en)

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EP2803812B1 (en) * 2013-05-17 2018-11-21 Sandvik Intellectual Property AB Drill rod gripping apparatus
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