Drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment and method

Abstract

The invention discloses drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment and method, and relates to the technical field of drilling machinery, the drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment comprises a frame body, a driving mechanism is mounted on one side of the frame body, the drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment further comprises a clamping mechanism, the clamping mechanism comprises a mounting base, a supporting rod is fixed to the mounting base, and two grippers are rotationally connected to the mounting base; a hydraulic rod is rotationally connected between the two grippers, a connecting assembly is arranged on each gripper and comprises a hydraulic motor fixedly installed on one side of the gripper, two driving wheels are rotationally connected to the other side of the gripper, one driving wheel is fixed to a driving shaft of the hydraulic motor, and the other driving wheel is fixed to a driving shaft of the hydraulic motor. According to the device, automatic feeding and connecting and automatic dismounting and discharging of the drill rod are achieved through the driving mechanism and the clamping mechanism, the working efficiency and safety are remarkably improved, in addition, the obliquely-arranged driving wheel combines the rotating function and the axial moving function, and the working efficiency is greatly improved. And the single operation period can be further shortened.

Description

Technical Field

[0001] This invention relates to the field of drilling machinery technology, and in particular to an integrated equipment and method for multi-mechanism collaborative adaptive loading and unloading of drill pipes. Background Technology

[0002] In drilling operations, as the drilling depth continues to increase, the initial drill rod length is insufficient to meet the needs of deep exploration. Repeated drill rod splicing is necessary to extend the depth of the operation. Traditional manual drill rod splicing presents significant technical bottlenecks: firstly, manual operation relies on hoisting equipment, resulting in low efficiency and significant safety hazards, with each splicing taking over 15 minutes, severely hindering construction progress; secondly, manual connection makes it difficult to accurately control the coaxiality and perpendicularity of the drill rod, easily leading to borehole trajectory deviation due to coaxiality deviation, and even causing accidents such as drill string fatigue fracture. Simultaneously, the drill rod is subjected to alternating tensile, torsional, and axial impact loads under dynamic drilling conditions, greatly increasing disassembly resistance. To address these pain points, there is an urgent need to develop a multi-mechanism collaborative adaptive loading and unloading integrated equipment for drill rods, enabling automated, efficient, precise docking and controllable disassembly of drill rods, fundamentally improving the safety, efficiency, and reliability of deep hole drilling operations. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of low efficiency and accuracy of traditional manual connection of drill rods and difficulty in disassembling drill rods, and to propose a multi-mechanism collaborative adaptive loading and unloading integrated device and method for drill rods.

[0004] To achieve the above objectives, the present invention employs the following technology: a multi-mechanism collaborative adaptive loading and unloading integrated equipment for drill pipes, comprising a frame, a drive mechanism mounted on one side of the frame, and a clamping mechanism, wherein the clamping mechanism comprises a mounting base, a support rod fixed on the mounting base, two grippers rotatably connected to the mounting base, a hydraulic rod rotatably connected between the two grippers, and a connecting component provided on the grippers; The connecting assembly includes a hydraulic motor fixedly installed on one side of the gripper, and two drive wheels rotatably connected to the other side of the gripper, one of which is fixed to the drive shaft of the hydraulic motor. The drive wheel is inclined and the inclination angle is the same as the thread pitch at the end of the drill pipe. The four drive wheels can clamp drill rods of different diameters, and as the drive wheels rotate, the drill rod rotates and moves along the axial direction, screwing in or out another drill rod.

[0005] As a further description of the above technical solution: a positioning unit is provided on the support rod, the positioning unit includes two sleeves sleeved on the support rod, and a retainer is fixedly connected to both ends of the sleeves.

[0006] As a further description of the above technical solution: the sleeve is slidably connected to the support rod and fixed by a fixing pin.

[0007] As a further description of the above technical solution: the driving mechanism includes a positioning rod fixed to one side of the frame, an installation frame slidably connected to the positioning rod, a hydraulic cylinder fixedly installed on the top of the installation frame, and the telescopic end of the hydraulic cylinder fixed to the frame.

[0008] As a further description of the above technical solution: the driving mechanism also includes a swing assembly, the swing assembly including a transverse hydraulic swing cylinder fixedly installed on the top of the mounting frame, the drive shaft of the transverse hydraulic swing cylinder is fixed with a rotating shaft, the rotating shaft is fixed with a swing arm rotatably connected to the mounting base, and one end of the swing arm is fixedly installed with a longitudinal hydraulic swing cylinder whose drive shaft is fixed to the mounting base.

[0009] As a further description of the above technical solution: the bottom of the rotating shaft is threadedly connected with a limit adjustment bolt.

[0010] As a further description of the above technical solution: it also includes a pipe unloading mechanism, which includes a connecting frame fixedly welded to the mounting base, a fixed frame fixed to the top of the connecting frame, a rotating frame rotatably connected inside the fixed frame, clamping cylinders fixedly installed on both sides of the rotating frame, the telescopic end of the clamping cylinder passing through the rotating frame and fixed with a clamping seat, and a detaching cylinder rotatably connected between both sides of the rotating frame and the fixed frame, and a baffle fixed to one side of the fixed frame.

[0011] A multi-mechanism collaborative adaptive loading and unloading method for drill pipes includes the following steps: S1. Place the drill pipe horizontally on the retainer so that the drill pipe passes between the two grippers; S2. Control the extension of the hydraulic rod so that the two grippers drive the drive wheel to clamp and fix the drill rod; S3. The drive mechanism drives the drill rod to move vertically upward, and at the same time, the longitudinal hydraulic swing cylinder is activated to drive the drill rod to deflect towards the vertical state. When the drill rod moves to the highest point, the drill rod is in a vertical state. S4. The swing assembly drives the drill rod to swing laterally, so that the drill rod moves to the loading station and aligns with the drill rod below. S5. Start the hydraulic motor to drive the drill rod to rotate through the drive wheel, so that the upper drill rod is screwed into the lower drill rod; S6. Repeat the above steps in reverse to disassemble the connected drill rods, so that the drill rods are fed in a transverse state in sequence.

[0012] In summary, due to the adoption of the above-mentioned technology in the integrated equipment and method for multi-mechanism collaborative adaptive loading and unloading of drill pipes, the beneficial effects of this invention are: Firstly, this application achieves automatic feeding and connection, and automatic disassembly and unloading of drill rods through a drive mechanism and a clamping mechanism, requiring no manual intervention throughout the process, significantly improving work efficiency and safety. Moreover, by turning the drill rod with an inclined drive wheel, the drill rod can move axially while rotating, allowing the threaded end of the upper drill rod to quickly screw into or out of the thread of the lower drill rod, thereby effectively accelerating the connection and disassembly speed of the drill rod, further shortening the single operation cycle, and speeding up the efficiency of drill rod loading and unloading.

[0013] Secondly, the double cage of the positioning unit accurately positions the connection between the upper and lower drill pipes. Combined with the 180-degree swing angle control of the swing arm, it ensures the alignment of the drill pipe axis, reduces connection errors, and guarantees the quality of the drill pipe connection.

[0014] Thirdly, after the drill pipe is clamped by the clamping seat, the unloading mechanism, combined with the two alternately extending and retracting uncoupling cylinders, can effectively overcome high resistance conditions, forcefully loosen the stuck drill pipe, avoid work interruption caused by difficulty in disassembling the drill pipe, and ensure the continuity of drilling operations. Attached Figure Description

[0015] Figure 1 An overall schematic diagram provided according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of a swing assembly provided according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of a hydraulic cylinder provided according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of a gripper provided according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of a hydraulic rod provided according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of a connection component provided according to an embodiment of the present invention is shown; Figure 7 A drive wheel state diagram provided according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of a pipe unloading mechanism provided according to an embodiment of the present invention is shown; Figure 9 A diagram illustrating the operation steps of the pipe unloading mechanism according to an embodiment of the present invention is shown; Figure 10 A schematic diagram of a first state transition provided according to an embodiment of the present invention is shown; Figure 11 A schematic diagram of a second state transition provided according to an embodiment of the present invention is shown.

[0016] Legend: 10. Frame; 20. Drive mechanism; 21. Positioning rod; 22. Mounting frame; 23. Hydraulic cylinder; 24. Swing assembly; 241. Lateral hydraulic swing cylinder; 242. Rotary shaft; 243. Swing arm; 244. Limit adjustment bolt; 30. Clamping mechanism; 31. Mounting base; 32. Support rod; 33. Gripper; 34. Hydraulic rod; 35. Positioning unit; 351. Sleeve; 352. Cage; 36. Connecting assembly; 361. Drive wheel; 362. Hydraulic motor; 37. Longitudinal hydraulic swing cylinder; 40. Connecting frame; 41. Fixing frame; 42. Rotating frame; 43. Clamping cylinder; 44. Clamping seat; 45. Baffle; 46. Shackle cylinder. Detailed Implementation

[0017] The following will describe clearly and completely the integrated equipment and method for multi-mechanism collaborative adaptive loading and unloading of drill pipe according to the embodiments of the present invention, with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] like Figures 1-11 As shown, the multi-mechanism collaborative adaptive loading and unloading integrated equipment for drill rods provided by the present invention includes a frame 10, a drive mechanism 20 installed on one side of the frame 10, a positioning rod 21 fixed to one side of the frame 10, an installation frame 22 slidably connected to the positioning rod 21, a hydraulic cylinder 23 fixedly installed on the top of the installation frame 22, and the telescopic end of the hydraulic cylinder 23 fixed to the frame 10. By controlling the telescopic extension of the hydraulic cylinder 23, the installation frame 22 can be driven to slide on the positioning rod 21, thereby driving the drill rod to move in the vertical direction, realizing the lifting and lowering of the drill rod. The maximum height of the drill rod lifting is 2400mm.

[0019] Reference Figure 2 The drive mechanism 20 also includes a swing assembly 24, which includes a horizontal hydraulic swing cylinder 241 fixedly mounted on the top of the mounting frame 22. The drive shaft of the horizontal hydraulic swing cylinder 241 is fixed with a rotating shaft 242, and a swing arm 243 rotatably connected to the mounting base 31 is fixed on the rotating shaft 242. When the horizontal hydraulic swing cylinder 241 is activated, it drives the swing arm 243 to swing through the rotating shaft 242, so that the drill rod moves to the loading position. The maximum swing angle of the swing arm 243 is 180 degrees. The bottom of the rotating shaft 242 is threadedly connected with a limit adjustment bolt 244. The rotation angle of the rotating shaft 242 is controlled by the limit adjustment bolt 244 to adjust the swing position of the drill rod so as to achieve the alignment of drill rods of different diameters.

[0020] Reference Figure 2 , Figure 4 and Figure 5 In order to grip the drill pipe, a clamping mechanism 30 is also included. The clamping mechanism 30 includes a mounting base 31, a support rod 32 is fixed on the mounting base 31, and two grippers 33 are rotatably connected to the mounting base 31. A hydraulic rod 34 is rotatably connected between the bottoms of the two grippers 33. Controlling the retraction of the hydraulic rod 34 can synchronously drive the two grippers 33 to deflect in opposite directions to realize the clamping action. A longitudinal hydraulic swing cylinder 37 with a drive shaft fixed to the mounting base 31 is fixedly installed at one end of the swing arm 243. The longitudinal hydraulic swing cylinder 37 is activated, causing the mounting base 31 to deflect. Figure 2 As shown, the mounting base 31 is centered on the hydraulic swing cylinder 37. The side closest to the limit adjustment bolt 244 deflects downward and the other side deflects upward, thereby causing the clamped drill rod to rotate 90 degrees in the vertical plane, changing from a horizontal to a longitudinal state, so as to facilitate the longitudinal connection and disassembly of the drill rod.

[0021] The hydraulic rod 34 has a cylinder diameter of 50mm, a piston rod diameter of 36mm, a stroke of 100mm, and a thrust of 3t; the hydraulic cylinder 23 has the same diameter and a stroke of 2500mm. The hydraulic medium is polar oil or aviation 15# hydraulic oil, and the cylinder rod surface is nickel-chromium plated.

[0022] Reference Figure 4 , Figure 6 and Figure 7 The gripper 33 is provided with a connecting component 36, which includes a hydraulic motor 362 fixedly installed on one side of the gripper 33. Two drive wheels 361 are rotatably connected to the other side of the gripper 33, and one of the drive wheels 361 is fixed to the drive shaft of the hydraulic motor 362. Since the included angle between the grippers 33 is adjustable, drill pipes of different diameters can be clamped by the gripper 33 and the four drive wheels 361.

[0023] The drive wheel 361 is inclined at the same angle as the thread pitch at the end of the drill rod. The hydraulic motor 362 drives the drive wheel 361 to rotate, which allows the drill rod to rotate and move along the axial direction at the same time, screwing in or out another drill rod, realizing the threaded connection and disassembly between drill rods. Adjacent drive wheels 361 can be transmitted through a gear set, so that the hydraulic motor 362 on each gripper 33 can drive two drive wheels 361 to rotate synchronously in the same direction, improving the stability of the drill rod rotation.

[0024] Reference Figure 2To improve the alignment accuracy of the upper and lower drill rods and ensure that the drill rods are placed horizontally and stably during feeding, a positioning unit 35 is provided on the support rod 32. The positioning unit 35 includes two sleeves 351 sleeved on the support rod 32. Both ends of the sleeves 351 are fixedly connected to retainers 352 for supporting the drill rods and providing positioning. The sleeves 351 are slidably connected to the support rod 32 and fixed by fixing pins. By adjusting the distance between the two sleeves 351, it is easy to support and position drill rods of different lengths. When connecting the drill rods, the connection points of the upper and lower drill rods are positioned by the support of the two retainers 352 to improve the coaxiality of the drill rods and ensure that the two drill rods are connected smoothly.

[0025] Reference Figure 8 and Figure 9 After use, the resistance to disassembly of the drill rod will increase. In order to ensure stable disassembly of the drill rod and ensure the continuity of drill rod unloading, a pipe unloading mechanism is also included. The pipe unloading mechanism includes a connecting frame 40 fixedly welded to the mounting base 31. The connecting frame 40 is welded to the mounting base 31. A fixing frame 41 is fixed on the top of the connecting frame 40. The fixing frame 41 and the connecting frame 40 are connected by a pin shaft for easy disassembly. A rotating frame 42 is rotatably connected inside the fixing frame 41 through a shaft hole. A clamping cylinder 43 is fixedly installed on both sides of the rotating frame 42. The telescopic end of the clamping cylinder 43 passes through the rotating frame 42 and is fixed with a clamping seat 44. A detaching cylinder 46 is rotatably connected between both sides of the rotating frame 42 and the fixing frame 41. A baffle 45 is fixed on one side of the fixing frame 41 to limit the axial movement of the rotating frame 42.

[0026] When the resistance to disassembling the drill pipe is too great and the drive wheel 361 cannot unscrew the upper drill pipe from the lower drill pipe by rotating in the opposite direction, it is necessary to use the pipe unloading mechanism to disassemble the drill pipe. At this time, control the extension of the two clamping cylinders 43 to drive the clamping seat 44 to clamp the drill pipe. Then, control the extension and retraction of the two uncoupling cylinders 46 respectively, thereby driving the rotating frame 42, clamping cylinders 43 and clamping seat 44 to rotate around the drill pipe axis, and loosen the uncoupling of the drill pipe.

[0027] Reference Figure 10 and Figure 11 The multi-mechanism collaborative adaptive loading and unloading method for drill pipe includes the following steps: S1. Place the drill pipe horizontally on the retainer 352 so that the drill pipe passes between the two grippers 33; S2. Control the extension of the hydraulic rod 34 so that the two grippers 33 drive the drive wheel 361 to clamp and fix the drill rod; S3. Drive the drill rod vertically upward through the drive mechanism 20, and at the same time start the longitudinal hydraulic swing cylinder 37 to drive the drill rod to deflect towards the vertical state. When the drill rod moves to the highest point, the drill rod is in a vertical state. S4. The drill rod is driven to swing laterally by the swing component 24, so that the drill rod moves to the loading station and is aligned with the drill rod below. S5. Start the hydraulic motor 362 to drive the drill rod to rotate through the drive wheel 361, so that the upper drill rod is screwed into the lower drill rod; S6. Repeat the above steps in reverse to disassemble the connected drill rods, so that the drill rods are fed in a transverse state in sequence.

[0028] Working principle: In the initial state, the mounting base 31 is located Figure 1 In the position shown, place the drill pipe horizontally on the retainer 352 and pass the drill pipe between the two grippers 33; The hydraulic rod 34 is extended, causing the two grippers 33 to drive the four drive wheels 361 to deflect in the direction of the drill rod until the drill rod is clamped and fixed. The hydraulic cylinder 23 is extended to drive the mounting frame 22, swing arm 243, mounting base 31 and drill rod to move upward. At the same time, the longitudinal hydraulic swing cylinder 37 is activated to drive the mounting base 31, support rod 32, gripper 33 and drill rod to flip in the vertical plane. When the drill rod moves to the highest position, it has been flipped into a vertical state. The transverse hydraulic swing cylinder 241 is activated to drive the rotating shaft 242 to rotate, which in turn causes the swing arm 243, mounting base 31 and drill rod to swing laterally, so that the drill rod moves to the loading position and is aligned with the axis of the lower drill rod. At this time, the retainer 352 positions the upper and lower drill rods to ensure the coaxiality of the two drill rods. Start the hydraulic motor 362 to drive the drive wheel 361 to rotate, so that the upper drill rod rotates and moves downward at the same time, and the threaded end is screwed into the lower drill rod to realize the connection and feeding of the upper and lower drill rods; When unloading the drill pipe, the above steps can be reversed to allow the drill pipe to be unloaded horizontally one by one.

[0029] When the resistance to disassembling the drill rod is too great and the drive wheel 361 cannot unscrew the upper drill rod from the lower drill rod by rotating in the opposite direction, it is necessary to use the pipe unloading mechanism to disassemble the drill rod. At this time, the two clamping cylinders 43 are controlled to extend and drive the clamping seat 44 to clamp the drill rod. Then, the two uncoupling cylinders 46 are controlled to extend and retract, thereby driving the rotating frame 42, clamping cylinders 43 and clamping seat 44 to rotate around the drill rod axis, loosening the drill rod uncoupling. The angle of the uncoupling mechanism to tighten the drill rod in a single operation is 45 degrees. By repeating the above steps multiple times to continuously loosen the drill rod, the disassembly and separation of the upper and lower drill rods are achieved.

[0030] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical concept of the multi-mechanism cooperative adaptive loading and unloading integrated equipment and method for drill pipe and its inventive concept, should be covered within the scope of protection of the present invention.

Claims

1. A multi-mechanism collaborative adaptive loading and unloading integrated equipment for drill pipes, characterized in that: The device includes a frame (10), a drive mechanism (20) is installed on one side of the frame (10), the drive mechanism (20) includes a positioning rod (21) fixed to one side of the frame (10), an installation frame (22) is slidably connected to the positioning rod (21), and the drive mechanism (20) also includes a swing assembly (24). It also includes a clamping mechanism (30), which includes a mounting base (31), a support rod (32) fixed on the mounting base (31), two grippers (33) rotatably connected on the mounting base (31), a hydraulic rod (34) rotatably connected between the two grippers (33), and a connecting component (36) provided on the grippers (33). The connecting assembly (36) includes a hydraulic motor (362) fixedly installed on one side of the gripper (33), and two drive wheels (361) are rotatably connected to the other side of the gripper (33), one of which is fixed to the drive shaft of the hydraulic motor (362). The drive wheel (361) is inclined and the inclination angle is the same as the thread pitch at the end of the drill rod. The four drive wheels (361) can clamp drill rods of different diameters, and the drive wheels (361) rotate to make the drill rod rotate while moving along the axial direction, screwing in or out another drill rod.

2. The drill pipe multi-mechanism collaborative adaptive loading and unloading integrated equipment according to claim 1, characterized in that, The support rod (32) is provided with a positioning unit (35), which includes two sleeves (351) sleeved on the support rod (32), and a retainer (352) is fixedly connected to both ends of the sleeves (351).

3. The drill pipe multi-mechanism collaborative adaptive loading and unloading integrated equipment according to claim 2, characterized in that, The sleeve (351) is slidably connected to the support rod (32) and fixed by a fixing pin.

4. The drill pipe multi-mechanism collaborative adaptive loading and unloading integrated equipment according to claim 1, characterized in that, A hydraulic cylinder (23) is fixedly installed on the top of the mounting frame (22), and the telescopic end of the hydraulic cylinder (23) is fixed to the frame (10).

5. The drill pipe multi-mechanism collaborative adaptive loading and unloading integrated equipment according to claim 2, characterized in that, The swing assembly (24) includes a transverse hydraulic swing cylinder (241) fixedly mounted on the top of the mounting frame (22). The drive shaft of the transverse hydraulic swing cylinder (241) is fixed with a rotating shaft (242). A swing arm (243) rotatably connected to the mounting base (31) is fixed on the rotating shaft (242). A longitudinal hydraulic swing cylinder (37) with the drive shaft fixed to the mounting base (31) is fixedly mounted at one end of the swing arm (243).

6. The drill pipe multi-mechanism collaborative adaptive loading and unloading integrated equipment according to claim 5, characterized in that, The bottom of the rotating shaft (242) is threadedly connected to a limit adjustment bolt (244).

7. The drill pipe multi-mechanism collaborative adaptive loading and unloading integrated equipment according to claim 1, characterized in that, It also includes a pipe unloading mechanism, which includes a connecting frame (40) fixedly welded to the mounting base (31). A fixed frame (41) is fixed to the top of the connecting frame (40). A rotating frame (42) is rotatably connected inside the fixed frame (41). Clamping cylinders (43) are fixedly installed on both sides of the rotating frame (42). The telescopic end of the clamping cylinder (43) passes through the rotating frame (42) and is fixed with a clamping seat (44). Unfastening cylinders (46) are rotatably connected between both sides of the rotating frame (42) and the fixed frame (41). A baffle (45) is fixed to one side of the fixed frame (41).

8. A multi-mechanism collaborative adaptive loading and unloading method for drill pipes, applied to the integrated multi-mechanism collaborative adaptive loading and unloading equipment for drill pipes as described in claim 5, characterized in that, Includes the following steps: S1. Place the drill rod horizontally on the retainer (352) so that the drill rod passes between the two grippers (33); S2. Control the extension of the hydraulic rod (34) so ​​that the two grippers (33) drive the drive wheel (361) to clamp and fix the drill rod; S3. The drive mechanism (20) drives the drill rod to move vertically upward, and at the same time, the longitudinal hydraulic swing cylinder (37) is activated to drive the drill rod to deflect towards the vertical state. When the drill rod moves to the highest point, the drill rod is in a vertical state. S4. The drill rod is driven to swing laterally by the swing assembly (24) so ​​that the drill rod moves to the loading station and is aligned with the drill rod below. S5. Start the hydraulic motor (362) to drive the drill rod to rotate through the drive wheel (361), so that the upper drill rod is screwed into the lower drill rod; S6. Repeat the above steps in reverse to disassemble the connected drill rods, so that the drill rods are fed in a transverse state in sequence.

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