CN114183083B - Automatic migration device of modular drill rod - Google Patents
Automatic migration device of modular drill rod Download PDFInfo
- Publication number
- CN114183083B CN114183083B CN202111525918.4A CN202111525918A CN114183083B CN 114183083 B CN114183083 B CN 114183083B CN 202111525918 A CN202111525918 A CN 202111525918A CN 114183083 B CN114183083 B CN 114183083B
- Authority
- CN
- China
- Prior art keywords
- sliding
- arm
- manipulator
- hinged
- grabbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000013508 migration Methods 0.000 title claims description 10
- 230000005012 migration Effects 0.000 title claims description 10
- 238000005553 drilling Methods 0.000 claims abstract description 41
- 238000013519 translation Methods 0.000 claims description 34
- 238000010008 shearing Methods 0.000 claims description 26
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to geological drilling equipment and discloses a modular automatic drill rod moving device which comprises a manipulator underframe (2), wherein a rotating piece (3) capable of rotating by 360 degrees is arranged on the manipulator underframe (2), a drill rod moving manipulator (4) is fixed on the rotating piece (3), and the drill rod moving 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 invention can realize the integral rotation of the drill rod transferring manipulator (4), grasp and transfer the drill rod at 360 degrees, change the assembly and disassembly of the drill rod from manual operation to 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 rod moving device.
Background
In the drilling process, the drill rod needs to be frequently moved between the ground (or the drill rod box) and the drilling machine, and the time occupation ratio is large in the auxiliary operation procedure, so that the drilling efficiency is affected, and the labor intensity of workers is increased. Automation and intellectualization are development trends of current drilling equipment, and in order to improve automation and intellectualization level of the drilling process, the oil gas drilling equipment is gradually provided with various automation components such as top drive, automatic catwalk, automatic drill rod arranging and arranging machine and the like. There is still a large gap between the degree of automation of the geological drilling rig and the oil and gas drilling equipment.
The power head type drilling machine is the most widely used drilling machine type in various geological drilling projects at present. In recent years, automatic drill rod handling devices and drills equipped with the same have been developed, such as CN213928287U, CN113236155A, CN213234939U, etc., which can automatically convey drill rods from a special drill rod placing rack to a drill gyrator. However, in most geological core drilling, tunnel drilling, geotechnical engineering investigation, non-excavation engineering and other projects, the drill rod is still required to be carried and assembled and disassembled manually, because a power head type drilling machine serving in the project and a main stream geological drilling machine sold in the market are not provided with automatic drill rod moving and assembling and disassembling devices, and the purchase of a novel drilling machine increases equipment cost; meanwhile, the existing automatic drilling rod loading and unloading device is usually directly installed on a drilling machine mast, the drilling machine mast is required to be modified, and the installation is inconvenient; in addition, in the case of either the drill pipe automatic handling device or the drill machine equipped with the drill pipe automatic handling device, the free movement of the drill pipe from the ground (or the drill pipe box) to the drill machine is not actually achieved in the drill pipe automatic handling process.
Therefore, the automatic conveying and loading and unloading device for the drill rod can be matched and integrated with the existing geological drilling machine, and can change the loading and unloading of the drill rod from manual operation to automatic operation, so that the automation level of geological drilling is improved, and the automatic conveying and unloading device for the drill rod is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a modular automatic drill rod moving device, which aims at the problems of drill rod loading and unloading in the prior art.
In order to solve the technical problems, the invention is solved by the following technical scheme:
the utility model provides an automatic migration device of modular drilling rod, includes drilling rod migration manipulator, is equipped with the rotating member that can 360 rotations on the manipulator chassis, is fixed with drilling rod migration manipulator on the rotating member, and drilling rod migration manipulator includes the link and sets up on the link and can follow link pivoted manipulator grabbing portion on the link. The drill rod transporting manipulator can integrally rotate, grasp and transport the drill rods at 360 degrees, change the assembly and disassembly of the drill rods from manual operation to automatic operation, and improve the automation level of geological drilling.
Preferably, the manipulator chassis is provided with a rotating member base, the rotating member base is provided with a rotary drive, the rotating member comprises a fixed part fixed on the rotating member base and a rotating part connected with the bottom of the connecting frame, and the rotary drive is connected with the rotating part and drives the rotating part to rotate.
Preferably, the manipulator underframe comprises two underframe rods which are arranged in parallel, a translation screw rod which is arranged along the length direction of the underframe rods and a translation screw rod drive which is connected with the translation screw rod are arranged on the underframe rods, and a rotating piece base is in threaded connection with the translation screw rod and can axially move along the translation screw rod; the manipulator chassis is also provided with guide rods which are arranged in parallel with the translation screw rod and distributed on two sides of the translation screw rod, and the rotating part base is provided with a guide sliding sleeve which is sleeved on the guide rods and can axially slide along the guide rods. The drill rod transferring manipulator translates along the length direction of the drill rod storage box on the manipulator underframe, so that the space range of the drill rod transferring manipulator for grabbing and transferring the drill rod is adjusted, and the guide rod and the guide sliding sleeve are matched to effectively play a guide role in the translation process of the drill rod transferring manipulator.
Preferably, the lifting frame comprises lifting frames distributed at two ends of the manipulator underframe, the lifting frames can be fixed at the front end of the drill rod storage box, lifting drives are fixed on the lifting frames and are connected with lifting screws which are vertically arranged, and lifting seats connected to the manipulator underframe are connected with the bottom of the lifting screws in a threaded mode. The lifting screw rod can realize the lifting of the mechanical arm underframe by a proper angle, and change the working angle of the whole machine so as to adapt to the actual working angle of the power head drilling machine.
Preferably, the lifting seat is arranged between the two bottom hack levers and is connected with the bottom frame lever through a transverse connecting column of which two ends respectively penetrate through the bottom hack levers at two sides, and a threaded hole for the lifting screw rod 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 swing arm hinged with the amplitude changing arm, and the manipulator grabbing part is hinged at the end part, far away from the amplitude changing arm, of the swing arm; a luffing jib crossbeam is fixedly connected between the two luffing jib, a luffing cylinder is connected between the luffing jib crossbeam and the rear connecting shaft, a cylinder sleeve of the luffing cylinder is arranged on the rear connecting shaft, and the end part of a piston rod of the luffing cylinder is hinged to the luffing jib crossbeam; a swing arm beam is fixedly connected between the two swing arms, a swing oil cylinder is connected between the swing arm beam and the amplitude arm beam, a cylinder sleeve of the swing oil cylinder is hinged on the amplitude arm beam, and the end part of a piston rod of the swing oil cylinder is hinged on the swing arm beam.
Preferably, a swing arm connecting shaft is connected between the ends, far away from the amplitude arm, of the two swing arm cross beams, two grabbing portion connecting plates are rotatably connected to the swing arm connecting shaft, the middle parts of the two grabbing portion connecting plates are rotatably connected to the swing arm connecting shaft, one ends of the two grabbing portion connecting plates are fixedly connected with the manipulator grabbing portions, the other ends of the two grabbing portion connecting plates are connected with the connecting plate connecting shaft, a grabbing portion steering cylinder is connected between the swing arm cross beams and the connecting plate connecting shaft, a cylinder sleeve of the grabbing portion steering cylinder is hinged to the swing arm cross beams, and the end portion of a piston rod of the grabbing portion steering cylinder is hinged to the connecting plate connecting shaft. The manipulator grabbing part rotates relative to the swinging arm, the swinging arm rotates relative to the amplitude changing arm, the amplitude changing arm rotates relative to the connecting frame base, and 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, extending out of the fixed sleeve, is provided with a grabbing hand. The relative motion of the sliding sleeve and the fixed sleeve can adjust the grabbing length range of the manipulator grabbing part.
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.
The mechanical arm comprises a mechanical arm chassis, a mechanical arm grabbing part and a layering frame, wherein the mechanical arm chassis is arranged at the front end of the mechanical arm storage box, the mechanical arm grabbing part can rotate to the rear end of the mechanical arm storage box, at least one layering frame is arranged at the two ends of the mechanical arm grabbing part, which are positioned in the mechanical arm storage box, the layering frame comprises two transverse sliding rails and a longitudinal sliding rail which are horizontally arranged and respectively arranged along the length direction and the width direction of the mechanical arm storage box, a layering sliding support capable of horizontally sliding along the length direction of the mechanical arm storage box is connected between the two transverse sliding rails in a sliding manner, the middle part of the layering sliding support is hinged with a rolling shearing arm, the end part of the rolling shearing arm, which is far away from the layering sliding support, is connected onto the longitudinal sliding rail and can slide along the longitudinal sliding rail, one end of the longitudinal sliding rail is hinged with a sliding shearing arm, one end of the layering sliding support is provided with a sliding groove, and the other end of the sliding shearing arm is hinged onto the end part of the longitudinal sliding rail, and the sliding column capable of sliding in the sliding groove is arranged on the layering sliding support; a layering frame folding oil cylinder is arranged between the rolling shearing fork arm and the sliding shearing fork arm, a cylinder sleeve of the layering frame folding oil cylinder is hinged on the rolling shearing fork arm, and the end part of a piston rod of the layering frame folding oil cylinder is hinged on the sliding shearing fork arm. The layered rack is arranged in the drill rod storage box, so that the drill rods can be layered, and damage caused by extrusion in the stacking and transporting processes of the drill rods is avoided; the drill rod storage box is used for storing the drill rods, the drill rods can be transported and hoisted in the whole box, the conveying time of the drill rods is shortened, and the labor intensity of workers is reduced. The invention has the remarkable technical effects due to the adoption of the technical scheme:
the drill rod transferring manipulator can automatically grasp the drill rod on the ground or in the modular drill rod storage box, transfers the drill rod to the operation area of the drill gyrator through 360-degree revolution of the whole machine and adjusts the angle of the whole machine by means of the lifting frame so as to adapt to the working pose of the power head drill, and automatically loads and unloads the drill rod.
The drill rod transportation manipulator can realize automatic processing of drill rods in a well site, improves the automation level of a drilling machine, reduces the labor intensity of workers, does not need to be arranged on the drilling machine, and has strong adaptability to the type of the drilling machine.
The drill rod storage box adopts a scissor type connecting rod mechanism to realize layering, the scissor type connecting rod mechanism is driven by an oil cylinder to automatically unfold and fold, the capacity of the drill rod storage box is large, and the problem that drill rods are frequently added when a drill rod bent is placed on a drill body is solved; the drill rod storage boxes store drill rods in a layered mode, and can realize whole-box transportation and hoisting of the drill rods, so that damage to the drill rods due to extrusion in the transportation process can be prevented, drill rod conveying time can be shortened, and labor intensity can be reduced.
The drill rod transporting manipulator and the drill rod storage box are independent module components, can be operated in an integrated mode, can also be operated independently, and are convenient to assemble and 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 the mounting structure of the drill rod handling robot of fig. 1.
Fig. 3 is a schematic view of the drill rod handling robot of fig. 2.
Fig. 4 is a schematic view of the structure of the manipulator gripping part in fig. 3.
Fig. 5 is a schematic view of the mounting structure of the rotary member in fig. 3.
Fig. 6 is a schematic view of the internal structure of fig. 5.
FIG. 7 is a schematic view of the drill rod magazine of 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 conveyer 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 the rotating member 3 that can 360 rotatory on the manipulator chassis 2, and drilling rod migration manipulator 4 includes link 401 and setting up on link 401 and can follow link 401 and rotate to the manipulator grabbing portion 6 of drilling rod storage box 1 rear end on rotating member 3. In the embodiment, the rotating piece 3 is arranged at the lower part of the drill rod transferring manipulator 4, so that the whole rotation of the drill rod transferring manipulator 4 can be realized, the drill rod is grabbed and transferred by 360 degrees, the assembly and disassembly of the drill rod are changed into automatic operation from manual operation, and the automation level of geological drilling is improved. In this embodiment, the manipulator chassis 2 is provided with a rotating member base 201, the rotating member base 201 is provided with a rotation driving unit 202, the rotating member 3 includes a fixing portion 301 fixed on the rotating member base 201 and a rotating portion 302 connected to the bottom of the connecting frame 401, and the rotation driving unit 202 is connected to the rotating portion 302 and drives the rotating portion 302 to rotate. In this embodiment, the rotation drive 202 adopts the existing gear rotation drive 202 or the turbine worm rotation drive 202 driven by a hydraulic motor to realize the rotation of the rotating part 302 on the rotating member 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 transporting manipulator 4, so that the manipulator grabbing part 6 of the manipulator can face to each direction of the drill rod storage box 1, and the automatic operation of assembling and disassembling the drill rods is fully satisfied.
In this embodiment, the manipulator chassis 2 includes two parallel bottom frame rods 207, the bottom frame rods 207 are provided with a translation screw 203 with a length direction along the length direction of the bottom frame rods 207 and a translation screw driver 204 connected with the translation screw 203, and the rotating member base 201 is connected with the translation screw 203 through a translation screw mounting flange in a threaded manner and can axially move along the translation screw 203; the manipulator chassis 2 is also provided with guide rods 205 which are arranged in parallel with the translation screw 203 and distributed on two sides of the translation screw 203, and the rotating piece base 201 is provided with a guide sliding sleeve 206 which is sleeved on the guide rods 205 and can axially slide along the guide rods 205.
When the whole machine translation of the drill rod transferring manipulator 4 is needed, the translation screw rod is driven to rotate by the translation screw rod 204, the translation screw rod 203 can be matched with an inner hole screw thread of the translation screw rod mounting flange after rotating, under the action of the translation screw rod mounting flange, the horizontal movement of the rotating piece base 201 on the translation screw rod 203 is realized, the drill rod transferring manipulator 4 is driven to translate along the guide rod 205, and then the whole drill rod transferring manipulator 4 is translated along the length direction of the drill rod storage box 1 on the manipulator underframe 2, so that the space range of the drill rod transferring manipulator 4 for grabbing and transferring drill rods is adjusted.
In this embodiment, the guide rod 205 and the guide sliding sleeve 206 that are mutually matched are further arranged, and are distributed on two sides of the translation screw 203, so that stability of the translation process of the drill rod transferring manipulator 4 can be effectively guaranteed, and the guide rod 205 and the guide sliding sleeve 206 can effectively play a guiding role in the translation process of the drill rod transferring manipulator 4.
In addition, the two ends of the manipulator underframe 2 are provided with underframe lifting frames 5, the underframe lifting frames 5 comprise lifting frames 501 distributed at the two ends of the manipulator underframe 2, when the drill rod transporting manipulator 4 is matched with the drill rod storage box 1 for use, the lifting frames 501 are fixed on the front end face of the drill rod storage box 1, lifting drives 502 are fixed on the lifting frames 501, lifting screws 503 which are vertically arranged are connected on the lifting drives 502, and lifting seats 504 which are connected on the manipulator underframe 2 are connected at the bottoms of the lifting screws 503 in a threaded mode. Wherein, the lifting seat 504 is disposed between the two bottom frame rods 207 and is connected with the bottom frame rods 207 through a transverse connecting post 505 with two ends respectively passing through the two bottom frame rods 207, 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 arranged at two ends of the drill rod storage box 1, when the conveying angle of the drill rod conveying manipulator 4 is required to be adjusted, the lifting frame 501 at one end keeps the manipulator underframe 2 motionless, the lifting drive 502 on the lifting frame 501 at one end is started to drive the lifting screw rod to rotate, so that the manipulator underframe 2 is lifted to a proper angle under the action of the lifting seat 504, the working angle of the whole machine is changed, and the actual working angle of the power head drilling machine is adapted.
In this embodiment, the connection frame 401 includes a connection frame base 402 fixed on the rotating portion 302, a front end portion and a rear end portion of the connection frame base 402 are respectively connected with a front end connection shaft 403 and a rear end connection shaft 404 that are parallel to each other, two ends of the front end connection 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 portion 6 is hinged at an end portion, far away from the amplitude arm 405, of the swing arm 406; a luffing jib crossbeam 407 is fixedly connected between the two luffing jib 405, a luffing cylinder 408 is connected between the luffing jib crossbeam 407 and the rear end connecting shaft 404, a cylinder sleeve of the luffing cylinder 408 is rotatably connected to the rear end connecting shaft 404, and the end part of a piston rod of the luffing cylinder 408 is hinged to the luffing jib crossbeam 407; a swing arm beam 409 is fixedly connected between the two swing arms 406, a swing oil cylinder 410 is connected between the swing arm beam 409 and the amplitude arm beam 407, a cylinder sleeve of the swing oil cylinder 410 is hinged on the amplitude arm beam 407, and a piston rod end of the swing oil cylinder 410 is hinged on the swing arm beam 409.
In addition, a swing arm connecting shaft 411 is connected between the ends of the two swing arm beams 409 far away from the luffing jib 405, two grabbing portion connecting plates 412 are rotatably connected to the swing arm connecting shaft 411, the middle parts of the two grabbing portion connecting plates 412 are rotatably connected to the swing arm connecting shaft 411, one ends of the two grabbing portion connecting plates 412 are fixedly connected with the manipulator grabbing portions 6, the other ends of the two grabbing portion connecting plates are connected with a connecting plate connecting shaft 413, a grabbing portion turning oil cylinder 414 is connected between the swing arm beams 409 and the connecting plate connecting shaft 413, a cylinder sleeve of the grabbing portion turning oil cylinder 414 is hinged to the swing arm beams 409, and the end parts of piston rods of the grabbing portion turning oil cylinders 414 are hinged to the connecting plate connecting shaft 413.
The connecting frame 401 of the drill rod transporting manipulator 4 comprises a luffing arm 405 and a swinging arm 406, and the luffing arm 405 and the swinging arm 406 are hinged with each other and are provided with a driving mechanism for driving the luffing arm 405 and the swinging arm 406 to rotate, wherein the luffing cylinder 408 extends and retracts a piston rod, so that the luffing arm 405 can shake relative to the connecting frame base 402; extension and retraction of the piston rod of the swing cylinder 410 can realize the swing of the swing arm 406 relative to the amplitude arm 405; the extension and retraction of the piston rod of the grasping portion turning cylinder 414 can realize the rotation of the manipulator grasping portion 6 relative to the swing arm 406, so as to adjust the grasping angle and grasping range of the manipulator, and the angle adjustment range between the manipulator and the ground can be between 0 degrees and 90 degrees.
The manipulator grabbing portion 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, the end portion of the grabbing portion yoke plate 412 is fixed on the fixed sleeve 415, and the end portion of the sliding sleeve 416 extending out of the fixed sleeve 415 is provided with a grabbing 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.
By the extension and retraction of the piston of the slide cylinder 418, the relative movement of the slide sleeve 416 and the fixed sleeve 415 can be realized, thereby adjusting the gripping length range of the manipulator gripping portion 6 so that the gripping length between the gripping hands 417 at both ends of the manipulator gripping portion 6 is in the range of 1000mm to 1500 mm.
The embodiment further comprises a drill rod storage box 1, the manipulator underframe 2 is arranged at the front end of the drill rod storage box 1, the manipulator grabbing part 6 can rotate to the rear end of the drill rod storage box 1, at least one layering frame 101 is arranged at the two ends of the drill rod storage box 1 in the drill rod storage box 1, the layering frame 101 comprises two transverse sliding rails 102 and one longitudinal sliding rail 103 which are horizontally arranged and respectively arranged along the length direction and the width direction of the drill rod storage box 1 in the length direction, a layering sliding support 104 capable of horizontally sliding along the length direction of the drill rod storage box 1 is connected between the two transverse sliding rails 102 in a sliding manner, a rolling shearing fork arm 105 is hinged at the middle part of the layering sliding support 104, the end part, far away from the layering sliding support 104, of the rolling shearing fork arm 105 is connected to the longitudinal sliding rail 103 and can slide along the longitudinal sliding rail 103, a sliding shearing fork arm 106 is hinged at one end of the longitudinal sliding rail 103, a sliding chute 107 with the length direction being consistent with the length direction of the layering sliding support 104 is arranged at one end of the sliding fork arm 106, and a sliding column 108 capable of sliding in the sliding direction is connected to the layering sliding support 104 at the other end; a layering frame folding cylinder 109 is arranged between the rolling shearing fork arm 105 and the sliding shearing fork arm 106, a cylinder sleeve of the layering frame folding cylinder 109 is hinged on the rolling shearing fork arm 105, and a piston rod end of the layering frame folding cylinder 109 is hinged on the sliding shearing fork arm 106.
The main body of the drill rod storage box 1 is formed by welding square steel and is of a rectangular frame structure consisting of a drill rod box underframe, a drill rod box upright post and a drill rod box upper cross beam, wherein the layering frame 101 is arranged on the drill rod box upright post. In the embodiment, the periphery of the chassis of the drill rod box is welded by four square steels with the same cross section size, and a longitudinal baffle and a transverse baffle are arranged in the chassis, for example, the longitudinal baffle is arranged in the middle, and the transverse baffles are arranged on two sides of the chassis of the drill rod box in a fishbone mode; the drill pipe box upright posts are welded at the four corners of the drill pipe box bottom frame and at the positions, with the length of the long sides, of the two ends being 1/3 of the length of the long sides respectively, and the drill pipe box upper cross beam 55 is welded on the drill pipe box upright posts 54.
The piston rod of the layering frame folding cylinder 109 is retracted to drive the rolling shearing fork arm 105 to slide on the longitudinal sliding rail 103 towards the direction close to the sliding shearing fork arm 106, so that thrust is acted on the hinging position of the layering sliding support 104 and the rolling shearing fork arm 105 to push the layering sliding support 104 to slide in the transverse sliding rail 102 from the end close to the longitudinal sliding rail 103 towards the middle of the drill rod storage box, and meanwhile, the sliding column 108 at the end of the sliding shearing fork arm 106 slides in the sliding groove 107 of the layering sliding support 104, so that the layering frame 101 is unfolded for storing the drill rods. When the upper layer drill rod is grabbed, the piston rod of the layering frame folding cylinder 109 extends out, and the layering frame 101 is folded to give room for grabbing the lower layer drill rod. The number of the layering frames 101 is determined according to the layering number of the drill rod storage boxes, and as in the embodiment, three layering frames 101 are arranged to divide the interior of the drill rod storage box 1 into four layers of compartments for placing drill rods, four layers of drill rods can be stored in total, and six groups of drill rod box layering mechanisms 56 are arranged at two ends.
In this embodiment, the whole machine rotation, translation, angle adjustment, grabbing range adjustment of the manipulator grabbing part 6, and unfolding and folding of the layered rack 101 of the drill rod transporting manipulator 4 are all realized through hydraulic motor driving, and by means of a hydraulic control technology, the system action is easy to realize automation.
The drill rod transferring manipulator 4 and the drill rod storage box 1 of the automatic transferring device for the mode drill rods in the embodiment are independent module components, wherein the drill rod transferring manipulator 4 is used for automatically grabbing, transferring and loading and unloading the drill rods, the drill rod storage box 1 is used for storing the drill rods, and the automatic transferring manipulator and the drill rod storage box can be used for automatically layering, can be operated in an integrated mode, can also be operated independently, are convenient to assemble and flexible in working mode.
In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.
Claims (9)
1. The utility model provides an automatic migration device of modular drilling rod, includes manipulator chassis (2), its characterized in that: a rotating piece (3) capable of rotating by 360 degrees is arranged on the manipulator underframe (2), a drill rod transferring manipulator (4) is fixed on the rotating piece (3), and the drill rod transferring manipulator (4) comprises a connecting frame (401) fixed on the rotating piece (3) and a manipulator grabbing part (6) which is arranged on the connecting frame (401) and can rotate along with the connecting frame (401);
the mechanical arm device comprises a mechanical arm chassis (2), a mechanical arm grabbing part (6) and a mechanical arm storing box (1), wherein the mechanical arm chassis (2) is arranged at the front end of the mechanical arm storing box (1), the mechanical arm grabbing part (6) can rotate to the rear end of the mechanical arm storing box (1), at least one layering frame (101) is arranged at the two ends of the mechanical arm storing box (1) in the mechanical arm storing box (1), the layering frame (101) comprises two horizontal sliding rails (102) and a longitudinal sliding rail (103) which are horizontally arranged and respectively arranged along the length direction and the width direction of the mechanical arm storing box (1), a layering sliding support (104) which can horizontally slide along the length direction of the mechanical arm storing box (1) is connected between the two horizontal sliding rails (102), a rolling shearing fork arm (105) is hinged to the middle part of the layering sliding support (104), the end part of the rolling shearing fork arm (105) far away from the layering sliding support (104) is connected to the longitudinal sliding rail (103), one end of the longitudinal sliding rail (103) is hinged with a sliding shearing fork arm (106), one end of the layering sliding fork arm (104) is hinged to the longitudinal sliding rail (103), one end of the layering sliding fork arm (103) is hinged to the sliding fork arm (107) at the end of the longitudinal sliding rail (107), the other end is connected to the layered sliding bracket (104) and is provided with a sliding column (108) capable of sliding in the sliding groove (107); a layering frame folding oil cylinder (109) is arranged between the rolling shearing fork arm (105) and the sliding shearing fork arm (106), a cylinder sleeve of the layering frame folding oil cylinder (109) is hinged on the rolling shearing fork arm (105), and a piston rod end part of the layering frame folding oil cylinder (109) is hinged on the sliding shearing fork arm (106).
2. The automatic modular drill pipe transport device of claim 1, wherein: the manipulator chassis (2) is provided with a rotating piece base (201), the rotating piece base (201) is provided with a rotation driving part (202), the rotating piece (3) comprises a fixing part (301) fixed on the rotating piece base (201) and a rotating part (302) connected with the bottom of the connecting frame (401), and the rotation driving part (202) is connected with the rotating part (302) and drives the rotating part (302) to rotate.
3. The automatic modular drill pipe transport device of claim 2, wherein: the manipulator underframe (2) comprises two underframe rods (207) which are arranged in parallel, a translation screw rod (203) which is arranged along the length direction of the underframe rods (207) in the length direction and a translation screw rod drive (204) which is connected with the translation screw rod (203) are arranged on the underframe rods (207), and a rotating piece base (201) is connected with the translation screw rod (203) in a threaded manner and can axially move along the translation screw rod (203); the manipulator chassis (2) is also 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 piece base (201) is provided with a guide sliding sleeve (206) which is sleeved on the guide rods (205) and can axially slide along the guide rods (205).
4. A modular drill pipe automatic transfer device according to claim 3, wherein: still include chassis crane (5), chassis crane (5) are including distributing in lifting frame (501) at manipulator chassis (2) both ends, are fixed with lift drive (502) on lifting frame (501), are connected with lift lead screw (503) of a vertical setting on lift drive (502), and lift lead screw (503) bottom threaded connection has lift seat (504) of connection on manipulator chassis (2).
5. The automatic modular drill pipe transport device of claim 4, wherein: the lifting seat (504) is arranged between the two bottom frame rods (207) and is connected with the bottom frame rods (207) through a transverse connecting column (505) with two ends penetrating through the two bottom frame rods (207) respectively, and a threaded hole for the lifting screw rod (503) to penetrate is formed in the middle of the lifting seat (504).
6. The automatic modular drill pipe transport device of claim 2, wherein: the connecting frame (401) comprises a connecting frame base (402) fixed on the rotating part (302), a front end connecting shaft (403) and a rear end connecting shaft (404) which are parallel to each other are respectively connected with the front end and the rear end of the connecting frame base (402), an amplitude changing arm (405) and a swinging arm (406) hinged with the amplitude changing arm (405) are hinged at two ends of the front end connecting shaft (403) in sequence, and the manipulator grabbing part (6) is hinged at the end part, far away from the amplitude changing arm (405), of the swinging arm (406); a luffing jib crossbeam (407) is fixedly connected between the two luffing jib (405), a luffing cylinder (408) is connected between the luffing jib crossbeam (407) and the rear end connecting shaft (404), a cylinder sleeve of the luffing cylinder (408) is rotationally connected to the rear end connecting shaft (404), and the end part of a piston rod of the luffing cylinder (408) is hinged to the luffing jib crossbeam (407); a swing arm beam (409) is fixedly connected between the two swing arms (406), a swing oil cylinder (410) is connected between the swing arm beam (409) and the amplitude arm beam (407), a cylinder sleeve of the swing oil cylinder (410) is hinged on the amplitude arm beam (407), and the end part of a piston rod of the swing oil cylinder (410) is hinged on the swing arm beam (409).
7. The automatic modular drill pipe transport device of claim 6, wherein: swing arm connecting shafts (411) are connected between the ends, far away from the amplitude changing arms (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 the manipulator grabbing portions (6), the other ends of the two grabbing portion connecting plates are connected with connecting plates (413), grabbing portion turning oil cylinders (414) are connected between the swing arm cross beams (409) and the connecting plates (413), cylinder sleeves of the grabbing portion turning oil cylinders (414) are hinged to the swing arm cross beams (409), and piston rod ends of the grabbing portion turning oil cylinders (414) are hinged to the connecting plates (413).
8. The automatic modular drill pipe transport device of claim 2, wherein: 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 grabbing hands (417) are arranged at the end part, extending out of the fixed sleeve (415), of the sliding sleeve (416).
9. The automatic modular drill pipe transport device of claim 8, wherein: 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525918.4A CN114183083B (en) | 2021-12-14 | 2021-12-14 | Automatic migration device of modular drill rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525918.4A CN114183083B (en) | 2021-12-14 | 2021-12-14 | Automatic migration device of modular drill rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114183083A CN114183083A (en) | 2022-03-15 |
| CN114183083B true CN114183083B (en) | 2023-11-28 |
Family
ID=80543715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111525918.4A Active CN114183083B (en) | 2021-12-14 | 2021-12-14 | Automatic migration device of modular drill rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114183083B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4684314A (en) * | 1984-09-24 | 1987-08-04 | Weatherford/Lamb, Inc. | Pipe handling apparatus |
| AU699712B3 (en) * | 1998-01-27 | 1998-12-10 | Schramm, Inc. | Drilling apparatus |
| RU2170325C1 (en) * | 2000-08-31 | 2001-07-10 | Воронин Юрий Иванович | Set to take, store and issue pipes and boring rods during descending-lifting operations |
| EP2781683A1 (en) * | 2013-03-11 | 2014-09-24 | Soilmec S.p.A. | Drilling machine for drilling for example soil or rock formations, and method for using such machine |
| CN104139387A (en) * | 2014-08-14 | 2014-11-12 | 吉林大学 | Automatic drill rod discharge mechanical hand suitable for core drill |
| CN104389514A (en) * | 2014-11-15 | 2015-03-04 | 吉林大学 | High-speed large-torque full-hydraulic top drive well-drilling device |
| CN104612426A (en) * | 2015-02-12 | 2015-05-13 | 唐建军 | Concealed retractable parking garage |
| WO2016008060A1 (en) * | 2014-07-18 | 2016-01-21 | Exploration Drill Masters Chile S.A. | Semiautomated drill rod handling apparatus and method |
| DE202015008972U1 (en) * | 2015-06-20 | 2016-05-11 | Prime Drilling Gmbh | Drilling rig with a pivotable between a transport position and a working position drilling mast |
| WO2016092382A1 (en) * | 2014-12-11 | 2016-06-16 | Comacchio Srl | Handling vehicle for transporting, handling, loading and collecting drill rods and/or pipes and/or tools |
| CN105840121A (en) * | 2016-06-02 | 2016-08-10 | 中国地质大学（北京） | Geological drilling drill rod conveying device |
| CN106988689A (en) * | 2017-02-22 | 2017-07-28 | 吉林大学 | A kind of drilling tool automatic migration device of land science probing rig |
| CN107143293A (en) * | 2017-07-10 | 2017-09-08 | 安徽理工大学 | A kind of all-hydraulic coal mine down-hole drilling auxiliary machinery |
| CN206554825U (en) * | 2017-01-11 | 2017-10-13 | 河南铁福来装备制造股份有限公司 | A kind of colliery multi-angle drilling rod catching robot |
| JP2019156601A (en) * | 2018-03-15 | 2019-09-19 | 矢崎化工株式会社 | Foldable storage rack |
| CN210768657U (en) * | 2019-10-10 | 2020-06-16 | 洛阳风动工具有限公司 | Automatic drill rod assembling and disassembling equipment |
| CN111852332A (en) * | 2020-08-13 | 2020-10-30 | 河南铁福来装备制造股份有限公司 | Automatic rod adding drilling machine with drill rod box |
| WO2021018793A1 (en) * | 2019-07-26 | 2021-02-04 | Itrec B.V. | Apparatus and a method for transporting and storing tubulars |
| CN113236155A (en) * | 2021-06-03 | 2021-08-10 | 江苏徐工工程机械研究院有限公司 | Automatic rod replacing device of drilling machine and drilling machine |
| CN214221123U (en) * | 2020-12-31 | 2021-09-17 | 无锡市安曼工程机械有限公司 | Automatic loading and unloading drilling rod mechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009026205A2 (en) * | 2007-08-20 | 2009-02-26 | Maltby Scott R | Portable drill pipe handling apparatus for use with oil and gas well drilling rigs |
| CA2768715C (en) * | 2009-07-29 | 2014-09-16 | Markwater Handling Systems Ltd. | Apparatus and method for handling pipe |
| US11274508B2 (en) * | 2020-03-31 | 2022-03-15 | National Oilwell Varco, L.P. | Robotic pipe handling from outside a setback area |
-
2021
- 2021-12-14 CN CN202111525918.4A patent/CN114183083B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4684314A (en) * | 1984-09-24 | 1987-08-04 | Weatherford/Lamb, Inc. | Pipe handling apparatus |
| AU699712B3 (en) * | 1998-01-27 | 1998-12-10 | Schramm, Inc. | Drilling apparatus |
| RU2170325C1 (en) * | 2000-08-31 | 2001-07-10 | Воронин Юрий Иванович | Set to take, store and issue pipes and boring rods during descending-lifting operations |
| EP2781683A1 (en) * | 2013-03-11 | 2014-09-24 | Soilmec S.p.A. | Drilling machine for drilling for example soil or rock formations, and method for using such machine |
| WO2016008060A1 (en) * | 2014-07-18 | 2016-01-21 | Exploration Drill Masters Chile S.A. | Semiautomated drill rod handling apparatus and method |
| CN104139387A (en) * | 2014-08-14 | 2014-11-12 | 吉林大学 | Automatic drill rod discharge mechanical hand suitable for core drill |
| CN104389514A (en) * | 2014-11-15 | 2015-03-04 | 吉林大学 | High-speed large-torque full-hydraulic top drive well-drilling device |
| WO2016092382A1 (en) * | 2014-12-11 | 2016-06-16 | Comacchio Srl | Handling vehicle for transporting, handling, loading and collecting drill rods and/or pipes and/or tools |
| CN104612426A (en) * | 2015-02-12 | 2015-05-13 | 唐建军 | Concealed retractable parking garage |
| DE202015008972U1 (en) * | 2015-06-20 | 2016-05-11 | Prime Drilling Gmbh | Drilling rig with a pivotable between a transport position and a working position drilling mast |
| CN105840121A (en) * | 2016-06-02 | 2016-08-10 | 中国地质大学（北京） | Geological drilling drill rod conveying device |
| CN206554825U (en) * | 2017-01-11 | 2017-10-13 | 河南铁福来装备制造股份有限公司 | A kind of colliery multi-angle drilling rod catching robot |
| CN106988689A (en) * | 2017-02-22 | 2017-07-28 | 吉林大学 | A kind of drilling tool automatic migration device of land science probing rig |
| CN107143293A (en) * | 2017-07-10 | 2017-09-08 | 安徽理工大学 | A kind of all-hydraulic coal mine down-hole drilling auxiliary machinery |
| JP2019156601A (en) * | 2018-03-15 | 2019-09-19 | 矢崎化工株式会社 | Foldable storage rack |
| WO2021018793A1 (en) * | 2019-07-26 | 2021-02-04 | Itrec B.V. | Apparatus and a method for transporting and storing tubulars |
| CN210768657U (en) * | 2019-10-10 | 2020-06-16 | 洛阳风动工具有限公司 | Automatic drill rod assembling and disassembling equipment |
| CN111852332A (en) * | 2020-08-13 | 2020-10-30 | 河南铁福来装备制造股份有限公司 | Automatic rod adding drilling machine with drill rod box |
| CN214221123U (en) * | 2020-12-31 | 2021-09-17 | 无锡市安曼工程机械有限公司 | Automatic loading and unloading drilling rod mechanism |
| CN113236155A (en) * | 2021-06-03 | 2021-08-10 | 江苏徐工工程机械研究院有限公司 | Automatic rod replacing device of drilling machine and drilling machine |
Non-Patent Citations (3)
| Title |
|---|
| 煤矿坑道钻机自动加卸钻杆装置的研发;姚亚峰;李晓鹏;张刚;乔杰;;煤矿机械(06);全文 * |
| 用于装配式建筑施工的导架升降式双层作业平台;吴联定;潘曦;刘鑫;;建筑施工(03);全文 * |
| 钻井平台的钻杆排放方式及其自动化操作系统;刘平全;崔学政;董磊;;中国海洋平台(01);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114183083A (en) | 2022-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2206675B1 (en) | Apparatus for elevating and positioning a work platform | |
| US8562269B2 (en) | Drilling apparatus | |
| DE19837692A1 (en) | Integrated drilling device and method for drilling a hole | |
| CN114183083B (en) | Automatic migration device of modular drill rod | |
| CN111706255A (en) | Double-rotation automatic drilling machine host | |
| WO2005073497A1 (en) | Device and method for manipulation of objects on a drilling installation | |
| JP2010269380A (en) | Robot and article carrying system | |
| CN110242231B (en) | Automatic drill rod discharging and transmitting device | |
| CN112832699B (en) | Drilling equipment | |
| CN101245693B (en) | Drilling rod conveyer for macrotype raise-boring machine | |
| US20080206027A1 (en) | Apparatus for Carrying a Load | |
| CN111101856A (en) | Anchor rod drill carriage | |
| CN105922246A (en) | Box stacking mechanical arm | |
| US20080245522A1 (en) | Apparatus for manipulating power tongs | |
| CN109113597A (en) | Borer drill rod automatically grabs and discharge robot | |
| WO2024045756A1 (en) | Boom assembling apparatus, work machine, and boom assembling method | |
| CN113084744A (en) | Dolly of belt conveyor bearing roller is changed to non-stop | |
| CN102408066A (en) | Crane and its displacement device | |
| CN111021955A (en) | Automatic rod loading and unloading device of horizontal directional drilling machine | |
| CN201801315U (en) | Crane and shifting device thereof | |
| CN216195018U (en) | Excavation suction vehicle | |
| CN212376582U (en) | Double-rotation automatic drilling machine host | |
| CN209195303U (en) | A kind of drill string guiding manipulator | |
| CN219081521U (en) | Petroleum well repairing calandria device | |
| CN212105727U (en) | Anchor rod drill carriage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |