CN114183083A - Modular automatic drill rod conveying device - Google Patents
Modular automatic drill rod conveying device Download PDFInfo
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- CN114183083A CN114183083A CN202111525918.4A CN202111525918A CN114183083A CN 114183083 A CN114183083 A CN 114183083A CN 202111525918 A CN202111525918 A CN 202111525918A CN 114183083 A CN114183083 A CN 114183083A
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- 238000005553 drilling Methods 0.000 claims abstract description 95
- 238000012546 transfer Methods 0.000 claims abstract description 28
- 238000013519 translation Methods 0.000 claims description 39
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 3
- 230000014616 translation Effects 0.000 description 31
- 238000013508 migration Methods 0.000 description 23
- 230000005012 migration Effects 0.000 description 23
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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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
- 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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Abstract
The invention relates to geological drilling equipment and discloses a modular automatic drill rod transfer device which comprises a manipulator underframe (2), wherein a rotating piece (3) capable of rotating 360 degrees is arranged on the manipulator underframe (2), a drill rod transfer manipulator (4) is fixed on the rotating piece (3), and the drill rod transfer manipulator (4) comprises a connecting frame (401) fixed on the rotating piece (3) and a manipulator grabbing part (6) arranged on the connecting frame (401). The drill pipe conveying manipulator can realize the integral rotation of the drill pipe conveying manipulator (4), grip and convey the drill pipe at 360 degrees, change the manual operation of drill pipe loading and unloading into the automatic operation, and improve the automation level of geological drilling.
Description
Technical Field
The invention relates to geological drilling equipment, in particular to a modular automatic drill pipe transfer device.
Background
In the drilling process, a drill rod needs to be frequently moved between the ground (or a drill rod box) and a drilling machine, and the time occupation ratio is large in the auxiliary operation process, so that the drilling efficiency is influenced, and the labor intensity of workers is increased. Automation and intellectualization are the development trend of current drilling equipment, and in order to improve the automation and intellectualization level of the drilling process, the oil and gas drilling equipment is gradually equipped with various automation components such as a top drive, an automatic catwalk, an automatic drill pipe arranging machine and the like. There is still a large gap in the degree of automation of geological drilling rigs compared to oil and gas drilling equipment.
The power head type drilling machine is the most widely applied drilling machine type in various geological drilling projects at present. In recent years, automatic drill rod handling devices and drilling machines equipped with the same have been developed, such as patent CN213928287U, patent CN113236155A, patent CN213234939U, etc., which can realize automatic conveying of drill rods from special drill rod placement racks to drilling machine gyrators. However, in most of geological core drilling, tunnel drilling, geotechnical engineering investigation, non-excavation engineering and other projects, the handling and loading and unloading of the drill rod still need to be realized manually, because the power head type drilling machine in service for the project and the mainstream geological drilling machine sold in the market are not provided with the automatic drill rod transporting and loading and unloading device, and the purchase of a novel drilling machine increases the equipment cost; meanwhile, the existing automatic drill rod loading and unloading device is usually directly installed on a drill mast, the drill mast needs to be modified, and the installation is inconvenient; in addition, neither the automatic drill rod handling device nor the drilling machine equipped with the automatic drill rod handling device actually achieve free movement of the drill rod from the ground (or the drill rod magazine) to the drilling machine in terms of the automatic drill rod handling process.
Therefore, it is an urgent need to solve the problem of the art to provide an automatic drill rod transfer and handling device which can be integrated with the existing geological drilling machine, and can change the manual operation of drill rod handling into the automatic operation to improve the automation level of geological drilling.
Disclosure of Invention
The invention provides a modular automatic drill rod transfer device, aiming at the problems of drill rod loading and unloading in the prior art.
In order to solve the technical problem, the invention is solved by the following technical scheme:
the utility model provides an automatic device that migrates of modular drilling rod, includes drilling rod migration manipulator, is equipped with the rotation piece that can 360 rotations on the manipulator chassis, is fixed with drilling rod migration manipulator on the rotation piece, and drilling rod migration manipulator is including fixing the link on rotating and setting up on the link and can follow link pivoted manipulator portion of snatching. The drill rod transporting manipulator can integrally rotate, the drill rods can be grabbed and transported by 360 degrees, the drill rod loading and unloading are changed from manual operation to automatic operation, and the automation level of geological drilling is improved.
Preferably, a rotating base is installed on the manipulator underframe, a rotating drive is installed on the rotating base, the rotating piece comprises a fixed part fixed on the rotating base and a rotating part connected with the bottom of the connecting frame, and the rotating drive is connected with the rotating part and drives the rotating part to rotate.
Preferably, the manipulator underframe comprises two underframe rods arranged in parallel, the underframe rods are provided with translation lead screws arranged along the length direction of the underframe rods and translation lead screw drives connected with the translation lead screws, and the rotating part base is in threaded connection with the translation lead screws and can axially move along the translation lead screws; the manipulator chassis is also provided with guide rods which are arranged in parallel with the translation lead screw and distributed on two sides of the translation lead screw, and the rotating piece base is provided with a guide sliding sleeve which is sleeved on the guide rods and can slide along the axial direction of the guide rods. The drilling rod migration manipulator is at manipulator chassis along drilling rod storage box length direction translation to the space range that the drilling rod migration manipulator snatched, migrated the drilling rod is adjusted, and the guide arm can effectively play the guide effect at drilling rod migration manipulator translation in-process with the cooperation of direction sliding sleeve.
As preferred, still include the chassis crane, the chassis crane is including distributing in the lifting frame at manipulator chassis both ends, and the crane can be fixed at drilling rod bin front end, is fixed with lifting drive on the lifting frame, is connected with the lifting screw of a vertical setting on the lifting drive, and lifting screw bottom threaded connection has the lift seat of connection on the manipulator chassis. The lifting screw rod can realize that the manipulator chassis rises to an appropriate angle, changes the complete machine working angle to adapt to the actual working angle of the power head drilling machine.
Preferably, the lifting seat is arranged between the two bottom frame rods and is connected with the bottom frame rods through transverse connecting columns with two ends penetrating through the bottom frame rods on two sides respectively, and a threaded hole for the lifting screw to penetrate through is formed in the middle of the lifting seat.
Preferably, the connecting frame comprises a connecting frame base fixed on the rotating part, the front end part and the rear end part of the connecting frame base are respectively connected with a front end connecting shaft and a rear end connecting shaft which are parallel to each other, both ends of the front end connecting shaft are sequentially hinged with an amplitude-changing arm and a swinging arm hinged with the amplitude-changing arm, and the manipulator grabbing part is hinged with the end part of the swinging arm far away from the amplitude-changing arm; a variable-amplitude arm crossbeam is fixedly connected between the two variable-amplitude arms, a variable-amplitude oil cylinder is connected between the variable-amplitude arm crossbeam and the rear-end connecting shaft, a cylinder sleeve of the variable-amplitude oil cylinder is installed on the rear-end connecting shaft, and the end part of a piston rod of the variable-amplitude oil cylinder is hinged on the variable-amplitude arm crossbeam; a swing arm cross beam is fixedly connected between the two swing arms, a swing oil cylinder is connected between the swing arm cross beam and the amplitude arm cross beam, a cylinder sleeve of the swing oil cylinder is hinged on the amplitude arm cross beam, and the end part of a piston rod of the swing oil cylinder is hinged on the swing arm cross beam.
Preferably, a swing arm connecting shaft is connected between the end parts, far away from the luffing arm, of the two swing arm cross beams, two grabbing part connecting plates are rotatably connected onto the swing arm connecting shaft, the middle parts of the two grabbing part connecting plates are rotatably connected onto the swing arm connecting shaft, one ends of the two grabbing part connecting plates are fixedly connected with a grabbing part of the manipulator, the other ends of the two grabbing part connecting plates are connected with the connecting shaft of the swing arm, a grabbing part turning oil cylinder is connected between the swing arm cross beam and the connecting shaft of the connecting plate, a cylinder sleeve of the grabbing part turning oil cylinder is hinged onto the swing arm cross beam, and the end part of a piston rod of the grabbing part turning oil cylinder is hinged onto the connecting shaft of the connecting plate. The manipulator grabbing part rotates relative to the swing arm, the swing arm rotates relative to the amplitude variation arm, and the amplitude variation arm rotates relative to the connecting frame base, so that the grabbing angle and the grabbing range of the manipulator can be adjusted.
Preferably, the manipulator grabbing part comprises a fixed sleeve and a sliding sleeve which is arranged in the fixed sleeve and can move along the inner wall of the fixed sleeve, the end part of the grabbing part yoke plate is fixed on the fixed sleeve, and the end part of the sliding sleeve, which extends out of the fixed sleeve, is provided with a grabbing hand. The relative motion of sliding sleeve and fixed sleeving can adjust the snatching length scope of manipulator snatching portion.
Preferably, a sliding oil cylinder is connected between the fixed sleeve and the sliding sleeve, a cylinder sleeve of the sliding oil cylinder is hinged on the fixed sleeve, and a piston rod of the sliding oil cylinder is hinged on the sliding sleeve.
Preferably, the drilling rod storage box also comprises a drilling rod storage box, a manipulator underframe is arranged at the front end of the drilling rod storage box, a manipulator grabbing part can rotate to the rear end of the drilling rod storage box, at least one layered frame is arranged at both ends of the drilling rod storage box in the drilling rod storage box and comprises two horizontal slide rails and a longitudinal slide rail which are horizontally arranged and are respectively arranged along the length direction and the width direction of the drilling rod storage box in the length direction, a layered sliding support capable of sliding in the length direction of the drilling rod storage box is connected between the two horizontal slide rails in a sliding manner, a rolling scissor arm is hinged at the middle part of the layered sliding support, the end part of the rolling scissor arm, far away from the layered sliding support, is connected to the longitudinal slide rail and can slide along the longitudinal slide rail, a sliding scissor arm is hinged at one end of the longitudinal slide rail, and a chute with the length direction consistent with the length direction of the layered sliding support is arranged at one end of the layered sliding support, one end of the sliding scissor fork arm is hinged at the end part of the longitudinal sliding rail, and the other end of the sliding scissor fork arm is connected to the layered sliding support and is provided with a sliding column capable of sliding in the sliding chute; a layered frame folding oil cylinder is arranged between the rolling scissors fork arm and the sliding scissors fork arm, a cylinder sleeve of the layered frame folding oil cylinder is hinged on the rolling scissors fork arm, and the end part of a piston rod of the layered frame folding oil cylinder is hinged on the sliding scissors fork arm. The drill rod storage box is internally provided with the layering frame, so that the layered arrangement of the drill rods can be realized, and the damage of the drill rods caused by extrusion in the stacking and transporting processes can be avoided; the drilling rod is accomodate to the drilling rod bin, and whole case transportation, hoist and mount reduce the handling time of drilling rod, reduce workman intensity of labour. Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:
the drill rod transfer manipulator can automatically grab the drill rods in the ground or the modular drill rod storage box, the drill rods are transferred to the operation area of the drilling machine gyrator through 360-degree rotation and horizontal movement of the whole machine, the angle of the whole machine is adjusted by means of the lifting frame, so that the working pose of a power head drilling machine is adapted, and the drill rods are automatically loaded and unloaded.
The drill pipe transfer manipulator can realize automatic treatment of drill pipes in a well site, improve the automation level of a drilling machine, reduce the labor intensity of workers, and has strong adaptability to the types of the drilling machines without being arranged on the drilling machines.
The drill rod storage box is layered by adopting a scissor-type connecting rod mechanism, the scissor-type connecting rod mechanism is automatically unfolded and folded under the driving of an oil cylinder, the capacity of the drill rod storage box is large, and the problem that drill rods are frequently added when a drill rod bent frame is placed on a drilling machine body is solved; the drilling rod is stored in the drilling rod bin layer by layer, and the whole drilling rod box can be transported and hoisted, so that the drilling rod can be prevented from being damaged in the transportation process due to extrusion, the drilling rod transporting time can be shortened, and the labor intensity can be reduced.
The drill rod transfer manipulator and the drill rod storage box are independent modular components, can be operated integrally and independently, are convenient to assemble, and are flexible in working mode.
Drawings
Fig. 1 is a schematic structural view of embodiment 1 of the present invention.
Fig. 2 is a schematic view of an installation structure of the drill pipe transfer robot of fig. 1.
Fig. 3 is a schematic structural view of the drill pipe transfer robot of fig. 2.
Fig. 4 is a schematic structural view of the robot grasping portion in fig. 3.
Fig. 5 is a schematic view of the installation structure of the rotation member in fig. 3.
Fig. 6 is a schematic view of the internal structure of fig. 5.
FIG. 7 is a schematic structural view of a drill rod storage box in FIG. 1
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
The utility model provides an automatic device that migrates of modular drilling rod, as shown in fig. 1-7, includes drilling rod migration manipulator 4, and drilling rod migration manipulator 4 installs on manipulator chassis 2, is equipped with on manipulator chassis 2 and can 360 rotatory rotation piece 3, and drilling rod migration manipulator 4 is including fixing link 401 and the setting on link 401 and can follow link 401 and rotate the manipulator portion of snatching 6 to drilling rod storage box 1 rear end on rotating piece 3. In this embodiment, through set up rotation piece 3 in 4 lower parts of drilling rod migration manipulator, can realize 4 whole gyrations of drilling rod migration manipulator, 360 snatch, migration drilling rods, change the drilling rod loading and unloading into automatic operation by the manual work, improve the automation level of geological drilling. In this embodiment, the rotating part base 201 is installed on the robot base 2, the rotation driving part 202 is installed on the rotating part base 201, the rotation part 3 includes a fixing part 301 fixed on the rotating part base 201 and a rotation part 302 connected to the bottom of the connecting frame 401, and the rotation driving part 302 is connected to the rotation part 202 and drives the rotation part 302 to rotate. In this embodiment, the rotation driving mechanism 202 adopts the existing gear rotation driving mechanism 202 driven by the hydraulic motor or the worm gear rotation driving mechanism 202 to realize the rotation of the rotating part 302 on the rotating part 3, so as to drive the connecting frame 401 to rotate along with the rotating part 302, and then realize the integral rotation of the drill rod transfer manipulator 4, so that the manipulator grabbing part 6 can face to all directions of the drill rod storage box 1, and the automatic operation of the loading and unloading of the drill rods is fully met.
In this embodiment, the manipulator base frame 2 includes two base frame rods 207 arranged in parallel, the base frame rods 207 are provided with translation screws 203 arranged along the length direction of the base frame rods 207 in the length direction and translation screw drivers 204 connected with the translation screws 203, and the rotating member bases 201 are connected to the translation screws 203 through translation screw mounting flanges in a threaded manner and can axially move along the translation screws 203; the manipulator chassis 2 is further provided with guide rods 205 which are arranged in parallel with the translation screw rod 203 and distributed on two sides of the translation screw rod 203, and the rotating member base 201 is provided with a guide sliding sleeve 206 which is sleeved on the guide rods 205 and can slide along the axial direction of the guide rods 205.
When 4 complete machine translations of mechanical hand of needs drilling rod migration, translation lead screw drive 204 translation lead screw rotates, translation lead screw 203 rotates the back and can pass through translation lead screw mounting flange's hole screw thread cooperation, under translation lead screw mounting flange effect, realize rotating the horizontal migration of piece base 201 on translation lead screw 203, drive drilling rod migration mechanical hand 4 along the translation of guide arm 205, then realize that whole drilling rod migration mechanical hand 4 is at manipulator chassis 2 along 1 length direction translation in drilling rod storage box, thereby the adjustment drilling rod migration mechanical hand 4 snatchs, the spatial dimension of migration drilling rod.
In this embodiment, a guide rod 205 and a guide sliding sleeve 206 which are matched with each other are further arranged, and the guide rod 205 and the guide sliding sleeve 206 are distributed on two sides of the translation lead screw 203, so that the stability of the drill rod transfer manipulator 4 in the translation process can be effectively ensured, and the guide rod 205 and the guide sliding sleeve 206 are matched with each other to effectively play a role in guiding the drill rod transfer manipulator 4 in the translation process.
In addition, manipulator chassis 2 both ends are equipped with chassis crane 5, chassis crane 5 is including distributing in the lifting frame 501 at manipulator chassis 2 both ends, when drilling rod migration manipulator 4 and drilling rod bin 1 cooperation use, crane frame 501 fixes the preceding terminal surface at drilling rod bin 1, is fixed with lift drive 502 on the lifting frame 501, is connected with the lifting screw 503 of a vertical setting on the lift drive 502, lifting screw 503 bottom threaded connection has the lift seat 504 of connection on manipulator chassis 2. The lifting seat 504 is disposed between the two bottom frame rods 207 and is connected to the bottom frame rods 207 via a transverse connecting column 505, two ends of which pass through the bottom frame rods 207 on two sides, respectively, and a threaded hole for the lifting screw 503 to pass through is disposed in the middle of the lifting seat 504.
Two lifting frames 501 are respectively installed at two ends of a drill rod storage box 1, when the conveying angle of a drill rod transfer manipulator 4 needs to be adjusted, the lifting frame 501 at one end keeps the manipulator chassis 2 still, a lifting drive 502 on the lifting frame 501 at one end is opened, and a lifting lead screw is driven to rotate, so that the manipulator chassis 2 is lifted to a proper angle under the action of a lifting seat 504, the working angle of the whole machine is changed, and the actual working angle of a power head drilling machine is adapted.
In this embodiment, the connecting frame 401 includes a connecting frame base 402 fixed on the rotating part 302, the front end part and the rear end part of the connecting frame base 402 are respectively connected with a front end connecting shaft 403 and a rear end connecting shaft 404 which are parallel to each other, both ends of the front end connecting shaft 403 are sequentially hinged with an amplitude arm 405 and a swing arm 406 hinged with the amplitude arm 405, and the manipulator grabbing part 6 is hinged at the end part of the swing arm 406 far away from the amplitude arm 405; a variable-amplitude arm cross beam 407 is fixedly connected between the two variable-amplitude arms 405, a variable-amplitude oil cylinder 408 is connected between the variable-amplitude arm cross beam 407 and the rear end connecting shaft 404, a cylinder sleeve of the variable-amplitude oil cylinder 408 is rotatably connected to the rear end connecting shaft 404, and the end part of a piston rod of the variable-amplitude oil cylinder 408 is hinged to the variable-amplitude arm cross beam 407; a swing arm cross beam 409 is fixedly connected between the two swing arms 406, a swing oil cylinder 410 is connected between the swing arm cross beam 409 and the amplitude arm cross beam 407, a cylinder sleeve of the swing oil cylinder 410 is hinged on the amplitude arm cross beam 407, and the end part of a piston rod of the swing oil cylinder 410 is hinged on the swing arm cross beam 409.
In addition, a swing arm connecting shaft 411 is connected between the end parts of the two swing arm cross beams 409 far away from the luffing arm 405, two grabbing part connecting plates 412 are rotatably connected to the swing arm connecting shaft 411, the middle parts of the two grabbing part connecting plates 412 are rotatably connected to the swing arm connecting shaft 411, one ends of the two grabbing part connecting plates 412 are fixedly connected with the manipulator grabbing part 6, the other ends of the two grabbing part connecting plates are connected with a connecting shaft 413, a grabbing part turning cylinder 414 is connected between the swing arm cross beam 409 and the connecting shaft 413, a cylinder sleeve of the grabbing part turning cylinder 414 is hinged to the swing arm cross beam 409, and the end part of a piston rod of the grabbing part turning cylinder 414 is hinged to the connecting shaft 413.
The connecting frame 401 of the drill pipe transfer manipulator 4 comprises a luffing arm 405 and a swing arm 406 which are hinged with each other and are provided with driving mechanisms for driving the luffing arm 405 and the swing arm 406 to rotate, wherein the piston rod of the luffing cylinder 408 extends out and retracts, so that the luffing arm 405 can swing relative to the connecting frame base 402; the piston rod of the swing oil cylinder 410 extends and retracts to realize the swing of the swing arm 406 relative to the luffing arm 405; the extension and retraction of the piston rod of the grabbing part direction changing oil cylinder 414 can realize the rotation of the manipulator grabbing part 6 relative to the swing arm 406, so that the grabbing angle and the grabbing range of the manipulator are adjusted, and the angle adjusting range between the manipulator and the ground can be between 0 degree and 90 degrees.
The robot gripping part 6 in this embodiment includes a fixed sleeve 415 and a sliding sleeve 416 disposed in the fixed sleeve 415 and capable of moving along the inner wall of the fixed sleeve 415, wherein an end of the gripping part link plate 412 is fixed on the fixed sleeve 415, and an end of the sliding sleeve 416 extending out of the fixed sleeve 415 is provided with a gripping hand 417. A sliding oil cylinder 418 is connected between the fixed sleeve 415 and the sliding sleeve 416, a cylinder sleeve of the sliding oil cylinder 418 is hinged on the fixed sleeve 415, and a piston rod of the sliding oil cylinder 418 is hinged on the sliding sleeve 416.
Through the extension and retraction of the piston of the sliding cylinder 418, the relative movement of the sliding sleeve 416 and the fixed sleeve 415 can be realized, so that the range of the grabbing length of the manipulator grabbing part 6 is adjusted, and the grabbing length between the grabbing hands 417 at the two ends of the manipulator grabbing part 6 is in the range of 1000mm to 1500 mm.
The mechanical hand storage box comprises a drill rod storage box 1, a mechanical hand underframe 2 is arranged at the front end of the drill rod storage box 1, a mechanical hand grabbing part 6 can rotate to the rear end of the drill rod storage box 1, at least one layered frame 101 is arranged at each of two ends of the drill rod storage box 1 in the drill rod storage box 1, each layered frame 101 comprises two horizontal slide rails 102 and a longitudinal slide rail 103 which are horizontally arranged and are respectively arranged along the length direction and the width direction of the drill rod storage box 1, a layered sliding support 104 capable of sliding in a translation manner along the length direction of the drill rod storage box 1 is connected between the two horizontal slide rails 102, a rolling scissor arm 105 is hinged in the middle of the layered sliding support 104, the end part of the rolling scissor arm 105, far away from the layered sliding support 104, is connected to the longitudinal slide rail 103 and can slide along the longitudinal slide rail 103, one end of the longitudinal slide rail 103 is hinged with a sliding scissor arm 106, one end of the layered sliding support 104 is provided with a sliding chute 107 with the length direction consistent with the length direction of the layered sliding support 104, one end of a sliding scissor arm 106 is hinged at the end part of the longitudinal slide rail 103, and the other end is connected on the layered sliding bracket 104 and is provided with a sliding column 108 capable of sliding in a sliding groove 107; a layered frame folding oil cylinder 109 is arranged between the rolling scissor arm 105 and the sliding scissor arm 106, a cylinder sleeve of the layered frame folding oil cylinder 109 is hinged on the rolling scissor arm 105, and the end part of a piston rod of the layered frame folding oil cylinder 109 is hinged on the sliding scissor arm 106.
The drill rod storage box 1 is formed by welding square steel, and is of a rectangular frame structure which comprises a drill rod box bottom frame, a drill rod box stand column and a drill rod box upper cross beam, wherein the layering frame 101 is arranged on the drill rod box stand column. In the embodiment, the periphery of the underframe of the drill rod box is formed by welding four square steels with the same cross section size, and a longitudinal baffle and a transverse baffle are arranged in the underframe, if the middle is provided with one longitudinal baffle, and the fishbone type at two sides is provided with ten transverse baffles; the drill rod box upright columns are welded at 1/3 positions with the lengths of the four corners and the long sides of the drill rod box bottom frame being long sides respectively, and the drill rod box upper cross beam 55 is welded on the drill rod box upright columns 54.
The piston rod of the layered frame folding oil cylinder 109 retracts to drive the rolling scissor arm 105 to slide on the longitudinal slide rail 103 towards the direction close to the sliding scissor arm 106, so that the hinged part of the layered sliding support 104 and the rolling scissor arm 105 acts as a thrust to push the layered sliding support 104 to slide towards the middle of the drill rod storage box from the end close to the longitudinal slide rail 103 in the transverse slide rail 102, and meanwhile, the sliding column 108 at the end part of the sliding scissor arm 106 slides in the sliding groove 107 of the layered sliding support 104, so that the layered frame 101 is unfolded to store the drill rod. When the upper layer of drill rod is grabbed, the piston rod of the layering frame folding oil cylinder 109 extends out, and the layering frame 101 is folded to make room for grabbing the lower layer of drill rod. The number of the layering frames 101 is determined according to the layering number of the drill rod storage boxes, for example, three layers of layering frames 101 are arranged in the embodiment, the interior of the drill rod storage box 1 is divided into four compartments for placing drill rods, four layers of drill rods can be stored, and the layering mechanisms 56 of the drill rod boxes arranged at two ends are six groups.
In the embodiment, the whole machine rotation, translation and angle adjustment of the drill rod transfer manipulator 4, the grabbing range adjustment of the manipulator grabbing part 6 and the unfolding and folding of the layered frame 101 are all realized by the driving of the hydraulic motor, and the system action is easy to realize automation by means of a hydraulic control technology.
The automatic migration device of modular drilling rod in this embodiment's drilling rod migration manipulator 4 is independent modular part with drilling rod bin 1, and wherein drilling rod migration manipulator 4 is used for automatic snatching, migration and loads and unloads the drilling rod, and drilling rod bin 1 is used for storing the drilling rod, automatic layering, but both integrated operation also can the free running, and it is convenient to assemble, and the working method is nimble.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides an automatic device that migrates of modular drilling rod, includes manipulator chassis (2), its characterized in that: the manipulator chassis (2) is provided with a rotating part (3) capable of rotating by 360 degrees, the rotating part (3) is fixed with a drill rod transfer manipulator (4), and the drill rod transfer manipulator (4) comprises a connecting frame (401) fixed on the rotating part (3) and a manipulator grabbing part (6) arranged on the connecting frame (401) and capable of following the rotation of the connecting frame (401).
2. The modular automatic pipe transfer device according to claim 1, characterized in that: the manipulator chassis (2) is provided with a rotating base (201), the rotating base (201) is provided with a rotation drive (202), the rotating part (3) comprises a fixed part (301) fixed on the rotating base (201) and a rotating part (302) connected with the bottom of a connecting frame (401), and the rotation drive (202) is connected with the rotating part (302) and drives the rotating part (302) to rotate.
3. The modular automatic pipe transfer device according to claim 2, characterized in that: the manipulator underframe (2) comprises two underframe bars (207) arranged in parallel, a translation lead screw (203) arranged in the length direction of the underframe bars (207) and a translation lead screw drive (204) connected with the translation lead screw (203) are arranged on the underframe bars (207), and a rotating piece base (201) is in threaded connection with the translation lead screw (203) and can axially move along the translation lead screw (203); the manipulator chassis (2) is further provided with guide rods (205) which are arranged in parallel with the translation lead screw (203) and distributed on two sides of the translation lead screw (203), and a guide sliding sleeve (206) which is sleeved on the guide rods (205) and can slide along the axial direction of the guide rods (205) is arranged on the rotating piece base (201).
4. The modular automatic pipe transfer device according to claim 3, characterized in that: still include chassis crane (5), chassis crane (5) are fixed with lift drive (502) including distributing in lifting frame (501) at manipulator chassis (2) both ends on lifting frame (501), are connected with a lift screw (503) of vertical setting on lift drive (502), and lift screw (503) bottom threaded connection has lift seat (504) of connection on manipulator chassis (2).
5. The modular automatic pipe transfer device according to claim 4, characterized in that: the lifting seat (504) is arranged between the two bottom frame rods (207) and is connected with the bottom frame rods (207) through transverse connecting columns (505) with two ends respectively penetrating through the bottom frame rods (207) at two sides, and a threaded hole for a lifting screw rod (503) to penetrate through is formed in the middle of the lifting seat (504).
6. The modular automatic pipe transfer device according to claim 2, characterized in that: the connecting frame (401) comprises a connecting frame base (402) fixed on the rotating part (302), the front end part and the rear end part of the connecting frame base (402) are respectively connected with a front end connecting shaft (403) and a rear end connecting shaft (404) which are parallel to each other, both ends of the front end connecting shaft (403) are sequentially hinged with an amplitude-variable arm (405) and a swing arm (406) hinged with the amplitude-variable arm (405), and the manipulator grabbing part (6) is hinged at the end part, far away from the amplitude-variable arm (405), of the swing arm (406); a variable-amplitude arm beam (407) is fixedly connected between the two variable-amplitude arms (405), a variable-amplitude oil cylinder (408) is connected between the variable-amplitude arm beam (407) and the rear-end connecting shaft (404), a cylinder sleeve of the variable-amplitude oil cylinder (408) is rotatably connected to the rear-end connecting shaft (404), and the end part of a piston rod of the variable-amplitude oil cylinder (408) is hinged to the variable-amplitude arm beam (407); a swing arm cross beam (409) is fixedly connected between the two swing arms (406), a swing oil cylinder (410) is connected between the swing arm cross beam (409) and the amplitude arm cross beam (407), a cylinder sleeve of the swing oil cylinder (410) is hinged on the amplitude arm cross beam (407), and the end part of a piston rod of the swing oil cylinder (410) is hinged on the swing arm cross beam (409).
7. The modular automatic pipe transfer device according to claim 6, characterized in that: swing arm connecting shafts (411) are connected between the end portions, far away from the amplitude variation arm (405), of the two swing arm cross beams (409), two grabbing portion connecting plates (412) are connected to the swing arm connecting shafts (411) in a rotating mode, the middle portions of the two grabbing portion connecting plates (412) are connected to the swing arm connecting shafts (411) in a rotating mode, one ends of the two grabbing portion connecting plates (412) are fixedly connected with a grabbing portion (6) of the manipulator, the other ends of the two grabbing portion connecting plates are connected with the connecting shafts (413), grabbing portion turning oil cylinders (414) are connected between the swing arm cross beams (409) and the connecting shafts (413), cylinder sleeves of the grabbing portion turning oil cylinders (414) are hinged to the swing arm cross beams (409), and end portions of piston rods of the grabbing portion turning oil cylinders (414) are hinged to the connecting shafts (413).
8. The modular automatic pipe transfer device according to claim 2, characterized in that: the manipulator grabbing part (6) comprises a fixed sleeve (415) and a sliding sleeve (416) which is arranged in the fixed sleeve (415) and can move along the inner wall of the fixed sleeve (415), the end part of the grabbing part connecting plate (412) is fixed on the fixed sleeve (415), and a grabbing hand (417) is arranged at the end part of the sliding sleeve (416) extending out of the fixed sleeve (415).
9. The modular automatic pipe transfer device according to claim 8, characterized in that: a sliding oil cylinder (418) is connected between the fixed sleeve (415) and the sliding sleeve (416), a cylinder sleeve of the sliding oil cylinder (418) is hinged on the fixed sleeve (415), and a piston rod of the sliding oil cylinder (418) is hinged on the sliding sleeve (416).
10. The modular automatic pipe transfer device according to claim 1, characterized in that: the drilling rod storage box comprises a drilling rod storage box body (1), a manipulator underframe (2) is arranged at the front end of the drilling rod storage box body (1), a manipulator grabbing part (6) can rotate to the rear end of the drilling rod storage box body (1), at least one layered frame (101) is arranged at each of two ends of the drilling rod storage box body (1) in the drilling rod storage box body (1), each layered frame (101) comprises two horizontal sliding rails (102) and a longitudinal sliding rail (103) which are horizontally arranged and are respectively arranged along the length direction and the width direction of the drilling rod storage box body (1), a layered sliding support (104) capable of sliding in a translation manner along the length direction of the drilling rod storage box body (1) is connected between the two horizontal sliding rails (102) in a sliding manner, a rolling scissor arm (105) is hinged to the middle of the layered sliding support (104), the end part, far away from the layered sliding support (104), of the rolling scissor arm (105) is connected to the longitudinal sliding rail (103) and can slide along the longitudinal sliding rail (103), one end of the longitudinal sliding rail (103) is hinged with a sliding scissor arm (106), one end of the layered sliding support (104) is provided with a sliding groove (107) with the length direction consistent with the length direction of the layered sliding support (104), one end of the sliding scissor arm (106) is hinged at the end part of the longitudinal sliding rail (103), and the other end of the sliding scissor arm is connected to the layered sliding support (104) and is provided with a sliding column (108) capable of sliding in the sliding groove (107); a layered frame folding oil cylinder (109) is arranged between the rolling scissors fork arm (105) and the sliding scissors fork arm (106), a cylinder sleeve of the layered frame folding oil cylinder (109) is hinged on the rolling scissors fork arm (105), and the end part of a piston rod of the layered frame folding oil cylinder (109) is hinged on the sliding scissors fork arm (106).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111525918.4A CN114183083B (en) | 2021-12-14 | 2021-12-14 | Automatic migration device of modular drill rod |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525918.4A CN114183083B (en) | 2021-12-14 | 2021-12-14 | Automatic migration device of modular drill rod |
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| CN114183083A true CN114183083A (en) | 2022-03-15 |
| CN114183083B CN114183083B (en) | 2023-11-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114800457A (en) * | 2022-06-20 | 2022-07-29 | 徐州中矿地科岩土工程技术有限公司 | Carrying manipulator for rock-soil drill rod production |
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