CN219262289U - Sliding type manipulator and drilling machine - Google Patents

Abstract

The utility model discloses a sliding type mechanical arm and a drilling machine, which belong to the technical field of drilling rod loading and unloading, wherein the mechanical arm comprises a drilling frame, a connecting seat, an angle adjusting mechanism, a rotating beam, a clamping mechanism and a sliding mechanism; the side surface of the drill frame is provided with a slide way, one end of the slide way is fixed on the drill frame, and the other end of the slide way is provided with two strip-shaped plates perpendicular to the ground; one end of the connecting seat is hinged on the slideway, and the other end of the connecting seat is connected with the angle adjusting mechanism; the angle adjusting mechanism is connected with the rotating beam and is used for driving the rotating beam to rotate around the connecting seat; and the rotary beam is provided with a driving part, and the driving part is used for driving the clamping mechanism to rotate. When the mechanical arm is used for constructing and assembling and disassembling the drill rod, the height between the whole drill rod assembling and disassembling device and the ground can be adjusted so as to reduce the difficulty of assembling and disassembling the drill rod; the guiding device of the drill rod accessible fixture automatically reaches the ground, manual operation is not needed, the operation difficulty and the labor intensity of workers are greatly reduced, and the construction efficiency is improved.

Description

Sliding type manipulator and drilling machine

Technical Field

The utility model relates to a sliding type mechanical arm, which is used for an automatic drill rod loading and unloading device used in the non-excavation field, and belongs to the technical field of drill rod clamping and unloading devices.

Background

With the great study and promotion of pipeline laying and drilling engineering at home and abroad, wellhead mechanical equipment such as inclined shaft drilling machine and the like is widely applied with low construction cost and extremely high construction efficiency. The inclined shaft drilling machine is operated by attaching a drill bit to the foremost end of a drill rod, and rotating and pushing the drill rod connected end to enable the drill bit to penetrate the stratum. When the inclined shaft drilling machine is completed, the drill rods need to be unloaded one by one to be recovered from the stratum. The drill rod loading and unloading device is responsible for automatically conveying drill rods, drill collars or sleeves and the like to a drill floor from a ground drill rod discharging frame in drilling operation, and conveying pipe tools to the ground discharging frame in well completion operation. And the high-risk operation of the upper drill floor and the lower drill floor of the drill rod, which are manually lifted and thrown down by using the steel wire rope, is replaced. The existing rod loading and unloading device has the following rod placing flow: at a location remote from the rig, the drill rod is manually placed on a mechanism by which it is placed between the power head and the clamping device (and vice versa when the rod is removed).

However, existing drilling rigs require that the drill pipe be at an angle to the ground during operation. The drill rod handling device still forms a certain angle with the ground when being far away from the drilling machine position, namely the drill rod is horizontally inclined, which can increase the difficulty and labor intensity of personnel for placing the drill rod. Meanwhile, if the constructor loosens the drill rod by both hands before the mechanical gripper grips the drill rod, the drill rod can slide downwards along the angle, so that the drill rod assembling and disassembling device cannot accurately place the drill rod between the power head and the clamping device, and the rod placing fails; seriously, the collision of the drill rod and the clamping device causes machine damage, and the construction efficiency is affected.

Disclosure of Invention

In view of the above problems, the utility model provides a sliding mechanical gripper, which enables a drill rod to rotate for a certain angle relative to the ground through driving of a sliding oil cylinder. When reaching the preset angle (the drill rod is horizontal to the ground), the oil cylinder stretches out to limit and stops acting through a mechanical structure or electronic control, the drill rod loading and unloading device slides downwards under the drive of the sliding oil cylinder, and then the clamping device automatically places the drill rod to the ground discharging frame. The device can effectively reduce the operation difficulty and increase the construction safety.

The technical scheme provided by the utility model is as follows:

a sliding mechanical arm comprises a drilling frame, a connecting seat, an angle adjusting mechanism, a rotating beam, a clamping mechanism and a sliding mechanism; the side surface of the drill frame is provided with a slide way, one end of the slide way is fixed on the drill frame, and the other end of the slide way is provided with two strip-shaped plates perpendicular to the ground; one end of the connecting seat is hinged on the slideway, and the other end of the connecting seat is connected with the angle adjusting mechanism; the angle adjusting mechanism is fixed on the connecting seat and connected with the rotating beam, and the angle adjusting mechanism is used for driving the rotating beam to rotate around the connecting seat; the rotary beam is provided with a driving part which is used for driving the clamping mechanism to rotate; the sliding mechanism is hinged with the drill frame and the connecting seat.

Further, the connecting seat is a plate-shaped piece with a threaded hole, and an oil cylinder hinge point is welded or installed on the connecting seat.

Further, the middle lower part of the rotating beam is connected with an angle adjusting mechanism.

Further, one end of the angle adjusting mechanism is connected to the connecting seat through a bolt, and the other end of the angle adjusting mechanism is connected with the rotating beam.

Further, the rotary beam is a rod-shaped or beam-shaped structure with a closed section.

Further, the angle adjusting mechanism is any one of a worm and gear structure, a gear rack structure, a swinging oil cylinder structure or a four-bar mechanism.

Further, the driving component is any one of a motor, an oil cylinder and a rotary speed reducer.

Furthermore, the clamping mechanism is a long pipe, and one end of the clamping mechanism is provided with a key slot, a pin hole or a threaded hole.

Further, the sliding manipulator is further provided with a guiding device, the guiding device comprises two parallel cross beams and a bottom support piece, and the bottom support piece is used for adjusting the inclination angle of the guiding device.

The utility model also provides a drilling machine, which comprises the sliding manipulator.

Advantageous effects

When the sliding manipulator works, the rotary beam can swing under the drive of the rotary oil cylinder, so that the included angle between the drill rod gripped on the gripper and the ground is adjusted, the lower end of the drill rod can be prevented from touching the ground, the axis of the drill rod can be parallel to the ground, and the drill rod can be automatically dropped to the placement frame after the automatic rod dropping mechanism is additionally arranged; the above operation changes the traditional manual lifting/disassembling operation mode of the drill rod; the operator only needs to install and detach the drill rod in the cab, so that the labor intensity of workers is greatly reduced.

Drawings

FIG. 1 is a side view of the drill rig of the present utility model with a drill rod handler holding a drill rod in a first position;

FIG. 2 is a side view of the drill rig of the present utility model with the drill rod handler holding the drill rod in a second position;

FIG. 3 is a schematic view of a mechanical gripper with adjustable limiting angle according to the present utility model;

FIG. 4 is a left side view of FIG. 3 in accordance with the present utility model;

FIG. 5 is a schematic illustration of the guide of the present utility model as it is being set up;

FIG. 6 is a schematic diagram of the guide device of the present utility model in a dropped pole;

in the figure: 1. a drill frame; 2. a connecting seat; 3. an angle adjusting mechanism; 4. a rotating beam; 5. a clamping mechanism; 6. a sliding mechanism; 11. a second hinge point; 21. a hinge point I; 61. and (5) an oil cylinder.

Detailed Description

Examples

A sliding type manipulator comprises a drilling frame 1, a connecting seat 2, an angle adjusting mechanism 3, a rotary beam 4, a clamping mechanism 5 and a sliding mechanism 6. The side of the drill frame 1 is provided with a slide way, one end of the slide way is fixed on the drill frame, and the other end of the slide way is provided with two strip-shaped plates perpendicular to the ground. One end of the connecting seat 2 is hinged on the slideway, and the other end is connected with the angle adjusting mechanism 3; the angle adjusting mechanism 3 is fixed on the connecting seat 2 and connected with the rotating beam 4, and the angle adjusting mechanism 3 is used for driving the rotating beam 4 to rotate around the connecting seat 2; the rotary beam 4 is provided with a driving component which is used for driving the clamping mechanism 5 to rotate; the sliding mechanism 6 is hinged with the drilling frame 1 and the connecting seat 2, a first hinge point 21 of the sliding mechanism 6 is arranged on the connecting seat 2, a second hinge point 11 of the sliding mechanism 6 is arranged on the side face of the drilling frame, the oil cylinder 61 is fixed on the two hinge points, and the driving manipulator moves on a slideway of the sliding mechanism.

One end of the slideway is fixed on the drill frame, the fixed form comprises but is not limited to welding, installation and the like, and the other end is provided with two strip-shaped plates perpendicular to the ground so as to enable the manipulator to slide on the strip-shaped plates.

The connecting seat 2 is fixed on the slideway, the connecting seat 2 is a plate-shaped piece with a threaded hole, and an oil cylinder hinge point is welded or installed on the connecting seat;

the angle adjusting mechanism 3 is any one of a worm and gear structure, a gear and rack structure, a swing cylinder structure or a four-bar mechanism (and the deformation thereof). The angle adjusting mechanism 3 makes the axis of the drill rod parallel to the ground or form a certain angle, one end of the angle adjusting mechanism is connected with the connecting seat 2 through a bolt, and the other end of the angle adjusting mechanism is connected with the rotating beam 4, which is a rotary speed reducer.

The rotary beam 4 is a rod-shaped or beam-shaped structure with a closed section, the middle lower part of the rotary beam 4 is connected with the angle adjusting mechanism 3, and two ends of the rotary beam 4 are provided with driving components for driving the clamping mechanism 5 to rotate, wherein the driving components comprise, but are not limited to, a motor, an oil cylinder, a rotary speed reducer and the like.

One end of the clamping mechanism 5 is connected to the rotary beam 4 and is a long pipe, and one end of the clamping mechanism is provided with a key slot, a pin hole or a threaded hole and is used for being fixed on a driving shaft of a driving part (the fixed form also comprises welding and the like); the other end is provided with a hinge point which is connected with the mechanical gripper and is provided with an arc which is approximately matched with the drill rod in size so as to grasp the drill rod.

The sliding mechanism 6 comprises a hinge point II on the drilling frame, a slideway on the drilling frame, a hinge point I of the connecting seat and a sliding oil cylinder, the manipulator can move along the slideway through the sliding mechanism, and the driving mode of the sliding mechanism comprises, but is not limited to, chain transmission, gear-rack transmission, oil cylinder pushing, worm-gear transmission, gear transmission and the like.

The sliding manipulator is also provided with a guiding device 7, the guiding device 7 comprises two parallel cross beams and a bottom support piece, and the bottom support piece is used for adjusting the inclination angle of the guiding device so that the drill rod can freely roll back and forth on the bottom support piece.

FIG. 1 is a side view of a slant well drilling rig of the present utility model with a drill pipe in a first position; as can be seen, when the drill rod is in the first position, it is in the vicinity of the clamping device (near the surface).

FIG. 2 shows a side view of the horizontal directional drilling machine of the present utility model with the drill rod in a second position; as can be seen, when the drill rod is in the second position, it is remote from the clamping means.

As shown in fig. 3 and 4, the drill rod handling device according to the embodiment of the present utility model is generally configured as follows: comprises a drill carriage, a slideway, a connecting seat, an angle adjusting mechanism, a rotating beam, a clamping mechanism and a sliding mechanism.

Examples

Embodiments of the present utility model are specifically described below in two cases:

1) When falling down the pole

At this point, the drill rod handling device is in the second position (fig. 2); the clamping mechanism grabs the drill rod to turn outwards and send the drill rod to the outer side of the drilling machine, after the turning action is finished, the angle adjusting mechanism enables the drill rod to be parallel to the ground by adjusting the included angle between the rotating beam and the ground, the sliding oil cylinder stretches out to push the drill rod loading and unloading device to the clamp, and the clamping mechanism is loosened after the lowest point is reached. At this time, the drill rod is automatically rolled to the swing rod frame along a guide device of a preset angle (fig. 5).

2) When the rod is up (figure 6)

At this point, the drill rod handler is in the first position (fig. 1); the drill rod automatically rolls from the swing rod frame to the clamping structure along a guide device with a preset angle (figure 6); the clamping structure grabs the drill rod, then the sliding oil cylinder contracts, the drill rod assembling and disassembling device moves along the slideway in a direction away from the clamp, after reaching a second position (figure 2), the angle adjusting mechanism drives the rotary beam to enable the drill rod to be parallel to the drill floor from being parallel to the drill floor, and then the clamping mechanism overturns the drill rod to the inner side of the drilling machine under the driving of the motor.

Through the above actions, the present embodiment is completed.

The whole process does not need personnel to operate, and when the drilling machine is used for releasing and collecting the rod, the mode of loading and unloading the drill rod can greatly reduce the labor intensity and the labor cost.

Examples

A drilling machine comprises the sliding type manipulator.

Claims (10)

1. The sliding type manipulator is characterized by comprising a drilling frame, a connecting seat, an angle adjusting mechanism, a rotating beam, a clamping mechanism and a sliding mechanism; the side surface of the drill frame is provided with a slide way, one end of the slide way is fixed on the drill frame, and the other end of the slide way is provided with two strip-shaped plates perpendicular to the ground; one end of the connecting seat is hinged on the slideway, and the other end of the connecting seat is connected with the angle adjusting mechanism; the angle adjusting mechanism is fixed on the connecting seat and connected with the rotating beam, and the angle adjusting mechanism is used for driving the rotating beam to rotate around the connecting seat; the rotary beam is provided with a driving part which is used for driving the clamping mechanism to rotate; the sliding mechanism is hinged with the drill frame and the connecting seat.

2. The skid steer manipulator of claim 1, wherein the attachment base is a plate-like member with a threaded bore to which the cylinder hinge point is welded or mounted.

3. The skid steer manipulator of claim 1, wherein a lower-middle portion of the swivel beam is coupled to an angle adjustment mechanism.

4. The slip manipulator of claim 1, wherein one end of the angle adjustment mechanism is connected to the connection base by a bolt, and the other end is connected to the rotating beam.

5. The skid steer manipulator of claim 1, wherein said rotating beam is a rod-like or beam-like structure of closed cross-section.

6. The slip manipulator of claim 1, wherein the angle adjustment mechanism is any one of a worm gear structure, a rack and pinion structure, a swing cylinder structure, or a four bar mechanism.

7. The skid steer manipulator of claim 1, wherein said drive component is any one of a motor, an oil cylinder, and a swing reducer.

8. The slip manipulator of claim 1, wherein the clamping mechanism is a long tube with a keyway, pin hole or threaded hole at one end.

9. The skid steer manipulator of claim 1, further comprising a guide comprising two parallel beams and a bottom support for adjusting the tilt angle of the guide.

10. A drilling machine, characterized in that it comprises a slip manipulator according to any one of claims 1-9.

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