JP2021147777A - Rod handling device - Google Patents

Abstract

To provide a rod handling device capable of not only supplying boring rods placed in a lateral state to a boring device but also supplying the boring rods in an oblique state or a horizontal state to the boring device, and capable of handling them irrespective of single pipes or double pipes.SOLUTION: A rod handling device is provided with a rotatable and self-movable body part 3 on which a rod container 7 in which a plurality of boring rods 2 is loaded in a stacked state is detachably attached; a telescopic mast 4 telescopically erected in a vertical direction on the body part 3; a slide arm 5 supported by the telescopic mast 4 capable of changing an oblique angle to the telescopic mast 4 and changing length through a sliding operation; and a rod gripping member 6 attached on a tip part of the slid arm 5 to grip and release the boring rod and allowing a tilt operation in a vertical direction, a rotation operation, and a swing operation around a shaft.SELECTED DRAWING: Figure 4

Description

The present invention relates to a rod hand rig device used for supplying and collecting a boring rod to a boring device.

As a rod handling device for supplying a boring rod to a boring device, the structures described in Patent Document 1 and Patent Document 2 have been conventionally known.
Patent Document 1 describes a structure in which a plurality of boring rods are erected in a rod container to move a loop-shaped moving path, and the rod handler takes out the boring rods and moves them to a boring device to supply the boring rods.
In Patent Document 2, a turn plate on which a boring rod is erected moves along a loop-shaped moving path, and a boring rod on the rod container is gripped and moved to be supplied to a drill head of a boring device. A structure with a gripper is described.

Japanese Unexamined Patent Publication No. 5-302488 Japanese Patent No. 6501811

In the conventional rod handling device, the boring rod is erected in the rod container, and the erected boring rod is taken out and supplied to the boring device. Therefore, it is necessary to erect the boring rod. Not only a support structure is required, but also a structure that moves the rod in an upright state is required, and there is a problem that the entire rod handling device has a complicated structure. Moreover, it is inconvenient because the boring rods cannot be taken out when they are stacked horizontally without being erected.

Since the conventional rod handling device has a structure in which the boring rod is supplied to the boring device in an upright state, the boring device also needs to receive the boring rod with its guide cell vertical. Therefore, the delivery posture of the boring rod is limited, and there is a problem that the boring rod cannot be supplied in an inclined state or a horizontal state, for example. Therefore, it is not possible to supply the boring rod while changing the angle and height according to the ground condition.

In the conventional rod handling device, the boring rod is limited to only a single pipe or only a double pipe, and there is an inconvenience that both the single pipe and the double pipe cannot be handled.

The present invention has been made in consideration of such conventional problems, and can supply a horizontal boring rod to a boring device, and also supplies the boring rod to the boring device even in an inclined state or a horizontal state. It is an object of the present invention to provide a rod handling device that can handle both single pipes and double pipes.

The rod handling device of the present invention is a rod handling device that supplies and collects a boring rod to the boring device, and is capable of turning and can be detachably attached to a rod container in which a plurality of the boring rods are stacked in a stacked state. A main body that can run, a telescopic mast that is erected on the main body so that it can be expanded and contracted in the vertical direction, and a telescopic mast that can change the tilt angle with respect to the telescopic mast. The slide arm, which can be changed, tilts in the vertical direction, swivels, and swings around the axis, and is attached to the tip of the slide arm to grip and release the boring rod. It is characterized in that it includes a rod gripping member for performing the above.

The present invention is characterized in that a container pedestal that detachably supports the rod container is attached to the main body portion, and the container pedestal is capable of undulating operation with respect to the main body portion.
Further, the elastic member that elastically contacts the main body is attached to the end of the container pedestal on the main body side, so that the load of the bowling rod gripping operation by the rod gripping member can be relaxed. It is a feature.
Further, the rod gripping member is characterized by including at least two gripping blocks for gripping the boring rod in a three-point support in a side-by-side manner.
Further, the side-by-side gripping block is characterized in that one can grip the inner rod of the boring rod and the other can grip the outer rod of the boring rod.

According to the present invention, a horizontal boring rod can be supplied to the boring device, and the boring rod can be supplied to the boring device even in an inclined state or a horizontal state, and can be handled regardless of whether it is a single pipe or a double pipe. It becomes possible.

It is a side view which shows the state which supplies the bowling rod from the rod handling apparatus installed on the front side with respect to the bowling apparatus. It is a side view which shows the supply state and the recovery state of a bowling rod from the side with respect to a bowling device. It is a side view which shows the state which took out the boring rod from the rear rod container and turned. It is a side view which shows the operation of each member provided with the rod handling apparatus. It is a side view which shows the tilting operation of a container pedestal. It is a side view which shows the horizontal state of a container pedestal. It is a side view which shows the main part of the rod handling apparatus. It is a side view which shows the mounting structure of a container pedestal. It is a side view which shows the state which the inner rod is stored in the outer rod when the double pipe is removed. It is a side view which shows the gripping state of the boring rod which consists of a double pipe. It is a side view which shows the whole of the rod gripping member. It is a front view of the rod gripping member in the state of gripping a boring rod. It is a front view which shows the swing operation of a gripping block. It is a front view which shows the gripping operation of a boring rod by a gripping block. It is a front view which shows the state which the gripping block grips a bowling rod. It is a front view which shows the state which the gripping block grips a large diameter boring rod. It is a front view which shows the state which the gripping block grips a small diameter boring rod.

The rod handling device 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 17.

The rod handling device 1 is a device that supplies and recovers the boring rod 2 to the boring device 100 that excavates.
As shown in FIGS. 1 and 2, the bowling device 100 is attached to a device main body 110 traveling by a crawler 111, a plurality of cylinder arms 120 provided in the device main body 110 so as to be expandable and contractible, and a tip portion of the cylinder arm 120. The guide cell 130 is provided. The angle of the guide cell 130 is adjusted from the vertical state to the horizontal state by the expansion / contraction drive of the cylinder arm 120. Therefore, although the guide cell 130 is slanted in the illustrated example, the tilted posture of the guide cell 130 can be appropriately adjusted according to the excavation conditions.

A feeding mechanism 150 is attached to the guide cell 130, and a drill head 140 is connected to the feeding mechanism 150. When the feeding mechanism 150 is driven, the drill head 140 moves along the length direction of the guide cell 130. A boring rod 2 is detachably attached to the drill head 140, and the drill head 140 drives the drill head 140 to perform excavation by the boring rod 2. In addition, the operation of pulling out the preceding boring rod 2 from the ground is also performed.

As shown in FIGS. 1 to 4, the rod handling device 1 includes a main body 3, a telescopic mast 4, a slide arm 5, and a rod gripping member 6.

The main body 3 is mounted on a base (not shown) to which the crawler 11 is attached so as to be swivelable, and the whole body 3 is self-propelled and swivelable. Since the main body 3 is capable of turning, the main body 3 has a posture in which the front surface faces the bowling device 100 side (FIGS. 1, 3, and 4) and a posture in which the main body 3 faces the opposite side to the bowling device 100 (FIGS. 1, FIG. It is possible to change to the posture (Fig. 7) and the posture facing between them (Fig. 2).
The telescopic mast 4 is attached to the main body 3. Further, a rod container 7 is detachably attached to the main body 3.

The telescopic mast 4 is erected on the main body 3 so as to face the vertical direction. The telescopic mast 4 is provided with a mast cylinder 12 inside, and is adapted to expand and contract in the vertical direction by operating the mast cylinder 12. The height position of the slide arm 5 can be changed by this vertical movement.

The slide arm 5 is attached to the upper end portion of the telescopic mast 4, and is rotatably supported by the upper end portion of the telescopic mast 4 via a hinge pin 13. A tilting cylinder 14 is hung on the slide arm 5 and the telescopic mast 4, and the tilting cylinder 14 expands and contracts to change the tilting angle of the slide arm 5 with respect to the telescopic mast 4. As a result, the slide arm 5 can change its posture not only to the horizontal state shown in FIG. 4 but also to the downward tilted state shown in FIG. 3 and the upward tilted state shown in FIG.
A telescopic cylinder 15 is arranged inside the slide arm 5, and when the telescopic cylinder expands and contracts, the slide arm 5 slides to change the length of the arm.
A rod gripping member 6 is attached to one end of the slide arm 5.

As shown in FIGS. 7 and 9, the rod gripping member 6 is provided with a connecting frame 20 at the upper end portion, and the connecting frame 20 is connected to the connecting bracket 16 at the tip end portion of the slide arm 5. A tilt lever 21 capable of bending is hung between the connecting frame 20 and the connecting bracket 16, and the tilt cylinder 22 in the slide arm is connected to the tilt lever 21. Therefore, as the tilt cylinder 22 expands and contracts, the entire rod gripping member 6 tilts with respect to the slide arm 5 as shown by the arrow E in FIG.

As shown in FIGS. 11 and 12, the rod gripping member 6 has a swing cylinder 23, a gripping cylinder 32, and a solenoid valve unit 24 for controlling a swivel motor 27 arranged inside the connecting frame 20. Swing cylinders 23 are fixed to the connecting frame 20 in a side-by-side position. A support plate 25 is connected to the tip of the swing cylinder 23. The support plate 25 is swingably attached to the connecting frame 20 via a hinge pin 26. In this structure, when the swing cylinder 23 expands and contracts, the support plate 25 rotates forward and reverse around the hinge pin 26. As a result, the entire rod gripping member 6 swings with respect to the slide arm 5 as shown by the arrow F in FIG. This swing motion is performed around the axis of the hinge pin 26, and is adjusted by, for example, a swing motion within a range of 45 °. The oil to the gripping cylinder 32 is supplied from the solenoid valve unit 24 via the rotary joint 39 (see FIGS. 12 and 13).

As shown in FIG. 11, the rod gripping member 6 has two gripping blocks 28 and 29 arranged side by side. The two gripping blocks 28 and 29 hang down from the mounting plate 30, and a hydraulically operated swivel motor 27 is arranged between the mounting plate 30 and the support plate 25. When the swivel motor 27 operates, the mounting plate 30 is swiveled by the swivel motor 27, and the swivel causes the two gripping blocks 28 and 29 to swivel with respect to the slide arm 5 as shown by the arrow G in FIG.

In the above structure, since the rod gripping member 6 can tilt the slide arm 5 in the vertical direction, turn, and swing around the axis, the posture can be changed according to the boring rod 2. The boring rod 2 can be easily gripped by the rod gripping member 6.

The two side-by-side gripping blocks 28, 29 are attached to a pair of support plates 31 hanging from the attachment plate 30. The two gripping blocks 28 and 29 have the same structure, and one gripping block 29 will be described.
As shown in FIGS. 11, 12, 16 and 17, the gripping block 29 is attached to the gripping cylinder 32 attached to the support plate 31 along the vertical direction and to the cylinder rod 32a of the gripping cylinder 32. A slide block 33, two movable arms 35 connected to both left and right sides of the slide block 33 via connecting pins 34, and two gripping claws connected via movable pins 36 at the bottom of each movable arm 35. It has 37 and. The gripping claw 37 is rotatably attached to the support plate 31 by a fixing pin 38.

The gripping blocks 28 and 29 described above grip the boring rod 2 by the slide block 33 and the two gripping claws 37, and the boring rod 2 is gripped by three-point support.

Next, the gripping of the boring rod 2 by the rod gripping member 6 will be described.
The rod gripping device 6 is lowered, the gripping claw 37 in the open state is inserted between the boring rods 2 placed on the rod container 7, and one boring rod 2 is gripped as shown in FIG. In this state, the gripping cylinder 32 is extended, and the movable arm 35 is lowered as the slide block 33 is lowered to push the movable pin 36. As a result, as shown in FIG. 14, the two gripping claws 37 move in the direction of the boring rod 2 around the fixing pin 38, lift the boring rod 2 and pull it toward the center side. Due to this attraction, the boring rod 2 is positioned substantially in the center by the slide block 33 and the left and right gripping claws 37. Further, when the gripping claw 37 is closed, the boring rod 2 is lifted and gripped while being reliably centered. Since the boring rod 2 is supported at three points, it is possible to prevent the boring rod 2 from being crushed. With this structure, even if the rod diameters of the boring rods 2 are different, the boring rods 2 positioned substantially at the center can be gripped as shown in FIGS. 16 and 17.

The rod gripping member 6 in this form can be gripped even if the boring rod 2 is a double pipe by providing two gripping blocks 28 and 29 side by side. FIG. 10 shows gripping of a boring rod 2 composed of a double pipe in which an inner rod 2b is inserted inside the outer rod 2a, one gripping block 28 grips the outer rod 2a, and the other gripping block 29 grips the inner rod. Hold 2b. As a result, not only a single pipe but also a double pipe can be gripped, and the applicable range can be expanded. It is possible to provide not only two gripping blocks but also three or more gripping blocks.

Next, the rod container 7 that can be attached to and detached from the main body 3 will be described.
As shown in FIGS. 1, 3, 4, 7, and 9, a container pedestal 40 is provided in the main body 3, and the rod container 7 can be placed on the container pedestal 40. There is.
The rod container 7 mounts a plurality of bowling rods 2 in a stacked state, and is detachably mounted on a container stand 40 in a mounted state of the plurality of bowling rods 2. By mounting the rod container 7 on which the plurality of bowling rods 2 are mounted in this way, the bowling rod 2 can be quickly replenished to the bowling device 100. It is also possible to remove the preceding boring rod 2 used for excavation from the boring device 100 and collect it in the rod container 7.

The container stand 40 is formed by a mounting base 41 on which the rod container 7 is mounted and a mounting arm 42 for mounting the mounting base 41 on the main body 3. The main body 3 is provided with a mounting bracket 44 for detachably mounting the container stand 40. The mounting bracket 44 has a mounting pin 45, and by locking the mounting arm 42 to the mounting pin 45, the container stand 40 is cantilevered and mounted on the main body 3.

As shown in FIGS. 5, 6 and 9, the mounting bracket 44 is provided with a start-up cylinder 46. By extending the start-up cylinder 46, the container pedestal 40 is started up in an inclined manner (FIG. 5). Further, the container pedestal 40 can be returned to the horizontal state by shortening the start-up cylinder 46 (FIG. 6). Therefore, the container pedestal 40 is capable of undulating operation with respect to the main body 3, and the posture at the time of taking out the boring rod 2 from the rod container 7 and collecting the boring rod 2 to the rod container 7 can be arbitrarily changed. And these operations can be easily performed.

As shown in FIG. 8, in this embodiment, the elastic member 43 is attached to the end of the mounting base 41 of the container pedestal 40 on the mounting bracket 44 side, and the elastic member 43 is in contact with the mounting bracket 44. In such a structure, even if a load due to pressing when the rod gripping member 6 takes out the bowling rod 2 from the rod container 7 acts, the elastic member 43 attenuates the load, so that the load can be alleviated.

In the rod handling device 1 of this embodiment, the main body 3 can rotate and self-propell, the telescopic mast 4 attached to the main body 3 can be expanded and contracted, the slide arm 5 can change the length, and the rod gripping member. 6 is capable of tilting, turning and swinging around the axis. With such a structure, it has the following excellent points.
(1) The boring rod 2 can be supplied and recovered to the boring device 100 while changing the angle and the height according to the ground condition, and the workability of attaching and detaching the boring rod 2 to and from the boring device 100 is improved. Moreover, since the boring rods can be supplied in a horizontally stacked state, a simple structure can be obtained.
(2) Since the bowling device 100 can be moved with a plurality of bowling rods 2 mounted, the bowling rods 2 can be quickly transported to the construction site, and labor can be saved.
(3) Since the boring rod 2 can be reliably gripped regardless of whether it is a single pipe or a double pipe, the range of application to the boring rod can be increased.

1 Rod handling device 2 Boring rod 3 Main body 4 Telescopic mast 5 Slide arm 6 Rod gripping member 7 Rod container 12 Mast cylinder 13 Hinge pin 14 Tilt cylinder 15 Telescopic cylinder 21 Tilt lever 22 Tilt cylinder 23 Swing cylinder 26 Hinge pin 27 Swing motor 28 29 Grip block 32 Cylinder for grip 33 Slide block 37 Grip claw 39 Rotating joint 40 Container stand 43 Elastic member 46 Cylinder for start-up 100 Boring device 140 Drill head

Claims (5)

A rod handling device that supplies and collects boring rods to a boring device.
A main body that can be swiveled and self-propelled, to which a rod container on which a plurality of the boring rods are stacked can be detachably attached.
An telescopic mast erected on the main body so that it can be expanded and contracted in the vertical direction,
A slide arm that is supported by the telescopic mast so that the tilt angle with respect to the telescopic mast can be changed, and whose length can be changed by sliding.
It is provided with a rod gripping member that is attached to the tip of the slide arm to enable a tilting motion in the vertical direction, a turning motion, and a swing motion around an axis to grip and release the boring rod. A rod handling device characterized by that. The rod handling device according to claim 1, wherein a container pedestal that detachably supports the rod container is attached to the main body portion, and the container pedestal is capable of undulating operation with respect to the main body portion. .. An elastic member that elastically contacts the main body is attached to the end of the container pedestal on the main body side, so that the load of the boring rod gripping operation by the rod gripping member can be relaxed. 2. The rod handling device according to claim 2. The rod handling device according to claim 1, wherein the rod gripping member includes at least two gripping blocks for gripping the boring rod in a three-point support in a side-by-side manner. The rod handling device according to claim 4, wherein one of the side-by-side gripping blocks can grip the inner rod of the boring rod, and the other can grip the outer rod of the boring rod. ..

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