Drilling equipment, automatic rod collection method and readable storage medium

Abstract

The present invention relates to the technical field of engineering machinery and equipment, and discloses a drilling device and an automatic rod collection method thereof, the rod collection method comprising the steps of: controlling a lifting device to drive a drill rod to rise to a preset position; controlling a clamping device to separate a current drill rod from a previous drill rod; controlling a conveying device to grip the drill rod; controlling the lifting device to separate from the current drill rod; and controlling the conveying device to convey the current drill rod to a rod cabin for storage. The whole process is automatic, without manual operation, thereby preventing dust from damaging the health of the operator, and is also convenient, fast and efficient, thereby improving the efficiency of drilling.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery equipment, and in particular to a drilling device and an automatic rod-retracting method thereof. Background Art

[0002] Construction machinery is widely used in quarries, mines and tunnel digging. When construction machinery is used in different sites, different working conditions or at different stages, it is necessary to replace, add or remove working parts. For example, during the drilling process, when a deeper hole needs to be drilled, one drill rod is not long enough and another drill rod needs to be added. After the drilling is completed, the added drill rod needs to be recovered. At this time, it needs to be done manually, pulling up and unloading one by one and moving them to the storage place.

[0003] However, the working environment of these sites is very harsh, with flying sand and soil everywhere. Manual drilling not only harms the health of the operators, but the drill rods are heavy and time-consuming and labor-intensive. Summary of the invention

[0004] In view of the above-mentioned deficiencies, an object of the present invention is to provide a drilling device and an automatic rod retracting method thereof, so as to realize automatic operation without manual operation.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is: an automatic rod closing method of a drilling device, which includes an automatic rod closing action after the drilling device has drilled a hole, and the automatic rod closing includes the steps of:

[0006] Control the lifting device to drive the drill rod to rise to the preset position;

[0007] Control the clamping device to separate the current drill rod from the previous drill rod;

[0008] Control the conveyor to grasp the drill pipe;

[0009] Control the lifting device to separate from the current drill pipe;

[0010] Control the conveying device to convey the current drill rod to the rod cabin for storage.

[0011] Optionally, the drill rods are threadedly connected to each other, and the clamping device includes a first clamping device and a second clamping device;

[0012] The step of controlling the clamping device to separate the current drill rod from the previous drill rod comprises:

[0013] Control the first clamping device to clamp the tail of the current drill rod, and control the second clamping device to clamp the previous drill rod;

[0014] Controlling the first clamping device and / or the second clamping device to rotate at a preset angle;

[0015] Controlling the first clamping device to release the current drill rod;

[0016] The lifting device is controlled to drive the current drill rod to rotate and separate from the previous drill rod.

[0017] Optionally, the drill rod is threadedly connected to the lifting device;

[0018] The step of controlling the lifting device to separate from the current drill pipe comprises:

[0019] Control the lifting device to rotate and separate from the current drill pipe.

[0020] Optionally, in the process of the lifting device driving the drill rod to rise to a preset position from the bottom end, the lifting device simultaneously drives the drill rod to rotate and stops after rising to the preset position.

[0021] Optionally, the conveying device is a robot, and the robot grasps the drill rod for rotational conveyance.

[0022] Optionally, the step of controlling the conveying device to convey the current drill rod to the rod cabin for storage includes:

[0023] Control the conveyor to grasp the drill pipe;

[0024] Control the conveying device to rotate at a preset angle to deliver the drill rod to the rod cabin;

[0025] Control the conveyor to release the drill pipe and wait in the rod cabin;

[0026] When the next drill rod rises to the preset position, the manipulator is controlled to rotate to a preset angle to grasp the drill rod.

[0027] Optionally, the drill rods are arranged in a circular array in the rod cabin;

[0028] After the step of controlling the conveying device to convey the current drill rod to the rod cabin for storage, the following steps are included:

[0029] The rod cabin is controlled to rotate to a preset angle.

[0030] Optionally, when the last rod is received, include the steps:

[0031] Control the lifting device to drive the last drill rod to rise to the preset position;

[0032] The clamping device and the conveying device are controlled to keep the drill rod clamped until the next drilling.

[0033] The present invention also provides a technical solution: a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the automatic club closing method as described above.

[0034] The present invention also provides a technical solution: a drilling device for implementing the above-mentioned automatic rod collection method, the drilling device comprising:

[0035] beam;

[0036] a rod cabin fixed to one side of the beam;

[0037] A plurality of drill rods, stored in the rod cabin, for drilling holes;

[0038] A lifting device, arranged on the beam, moves along the beam, and is used to drive the drill rod to move;

[0039] A conveying device is rotatably disposed between the beam and the rod cabin, and is rotated between the beam and the rod cabin to convey the drill rod between the beam and the rod cabin;

[0040] The clamping device is arranged at the bottom of the beam and is used for clamping the drill rod and loosening the connection between the drill rods.

[0041] Beneficial effects:

[0042] The automatic rod collection method provided by the present invention first pulls the drill rod to a preset position through a lifting device, and then loosens the drill rods through a clamping device, first clamps it through a conveying device, and then rotates the lifting device to loosen it from the drill rod, so as to prevent the drill rod from falling. At the same time, after both ends of the drill rod are loosened, the drill rod can be directly transferred to the rod cabin for storage, and the operation is cyclically performed until all the drill rods are retracted, with smooth connection and automatic whole process without manual operation, thereby preventing dust from damaging the health of the operator, and it is also convenient, fast and efficient, thereby improving the efficiency of drilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the implementation of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0044] Figure 1 is a schematic diagram of a drilling device according to an embodiment of the present invention;

[0045] Figure 2 It is a schematic flow chart of an automatic club closing method according to an embodiment of the present invention;

[0046] Figure 3It is a schematic diagram of a process of a current drill rod being separated from a preceding drill rod and a lifting device according to an embodiment of the present invention;

[0047] Figure 4 The present invention is a schematic diagram of a process of storing drill rods in a rod cabin according to an embodiment of the present invention.

[0048] Among them, 100, drilling equipment; 110, beam; 120, rod cabin; 130, drill rod; 140, lifting device; 150, conveying device; 160, clamping device. DETAILED DESCRIPTION

[0049] It should be understood that the terms used herein, the specific structures and functional details disclosed are only for describing specific embodiments and are representative, but the present invention can be implemented in many alternative forms and should not be construed as being limited to only the embodiments described herein.

[0050] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, unless otherwise specified, features defined as "first" and "second" may explicitly or implicitly include one or more of the features; "plurality" means two or more. The term "including" and any variation thereof means non-exclusive inclusion, and one or more other features, integers, steps, operations, units, components and / or combinations thereof may exist or be added.

[0051] In addition, terms indicating orientation or positional relationships, such as “center”, “lateral”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside”, are described based on the orientation or relative positional relationships shown in the drawings and are merely simplified descriptions for the convenience of describing the present invention. They do not indicate that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation and therefore should not be understood as limitations on the present invention.

[0052] In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internally connected between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] The present invention is further described below with reference to the accompanying drawings and optional embodiments.

[0054] like Figure 1As shown, an embodiment of the present invention discloses a drilling device 100, including a beam 110, a rod cabin 120, a drill rod 130, a lifting device 140, a conveying device 150 and a clamping device 160; the rod cabin 120 is fixed to one side of the beam 110; the drill rod 130 is stored in the rod cabin 120; the lifting device 140 is arranged on the beam 110 and moves along the beam 110; the conveying device 150 is rotatably arranged between the beam 110 and the rod cabin 120, rotates between the beam 110 and the rod cabin 120, and conveys the drill rod 130 between the beam 110 and the rod cabin 120; the clamping device 160 is arranged at the bottom of the beam 110, for clamping the drill rod 130 and loosening the connection between the drill rods 130 and the drill rods 130.

[0055] With the current drilling equipment 100, the drill rod 130 is placed on the ground. After drilling to the depth of a drill rod 130, the operator needs to loosen the lifting device 140 from the drill rod 130, then operate the lifting device 140 to move the starting end, then lift the drill rod 130 up to align it with the lifting device 140, and then lower the lifting device 140 to engage with the drill rod 130; after drilling the hole, the drill rods 130 have to be unloaded one by one and moved to the next drilling position for storage; since the drilling equipment 100 used in quarries, mines, tunneling and other places are relatively large, these operations still require two operators to cooperate in the operation, which is not only time-consuming and labor-intensive, but also will damage the health of the operators due to the generated dust; compared with the current drilling equipment 100, the drilling equipment 100 is relatively large, and the drilling equipment 100 used in quarries, mines, tunneling and other places are relatively large, and the drilling equipment 100 used in quarries, mines, tunneling and other places have to be operated by two operators, which is not only time-consuming and labor-intensive, but also will damage the health of the operators due to the generated dust; compared with the current drilling equipment During the rod collection process, the drilling equipment 100 of the embodiment of the present invention first pulls the drill rod 130 to a preset position through the lifting device 140, and then loosens the drill rods 130 and 130 through the clamping device 160, and then first clamps them through the conveying device 150, and then rotates the lifting device 140 to loosen the drill rod 130, so as to prevent the drill rod 130 from falling. At the same time, after both ends of the drill rod 130 are loosened, the drill rod 130 can be directly transferred to the rod cabin 120 for storage, and the operation is cyclically performed until all the drill rods 130 are collected, with smooth connection, automatic whole process, fast collection, and no manual operation, thereby preventing dust from damaging the health of the operator, and it is also convenient, fast and efficient, thereby improving the efficiency of drilling.

[0056] The conveying device 150 is a manipulator, which grasps the drill rod 130 for rotation and transmission, and is hydraulically controlled. The manipulator has a simple structure and can well clamp the cylindrical drill rod 130 for transmission. The hydraulic control pressure is large and the movement process is more stable.

[0057] like Figure 2 As shown, the embodiment of the present invention discloses an automatic rod closing method applied to the above-mentioned drilling equipment, comprising the steps of:

[0058] S1: Control the lifting device to drive the drill rod to rise to the preset position;

[0059] S2: Control the clamping device to separate the current drill rod from the previous drill rod;

[0060] S3: Control the transmission device to grasp the drill pipe;

[0061] S4: Control the lifting device to separate from the current drill pipe;

[0062] S5: Control the conveying device to convey the current drill rod to the rod cabin for storage.

[0063] The conveying device is a manipulator, which grasps the drill rod for rotation and transmission, and is hydraulically controlled. The manipulator has a simple structure and can well clamp the cylindrical drill rod for transmission. The hydraulic control pressure is large and the movement process is more stable.

[0064] For current drilling equipment, the drill rod is placed on the ground. After drilling a drill rod to a certain depth, the operator needs to loosen the lifting device from the drill rod, move the lifting device to the starting point, lift the drill rod up and align it with the lifting device, and then lower the lifting device to engage with the drill rod. After drilling the hole, the drill rods have to be unloaded one by one and moved to the next drilling location for storage. Since the drilling equipment used in quarries, mines, and tunneling sites is relatively large, these operations require the cooperation of two operators, which is not only time-consuming and labor-intensive, but also harmful to the health of the operators due to the generated dust. Compared with the current drilling equipment, the existing drilling equipment has to be unloaded one by one and moved to the next drilling location for storage. In the process of collecting the drill rods of the previous drilling equipment, the drilling equipment of the embodiment of the present invention first pulls the drill rod to the preset position through the lifting device, and then loosens the drill rods with the clamping device, first clamps it through the conveying device, and then rotates the lifting device to release it from the drill rod, so as to prevent the drill rod from falling. At the same time, after both ends of the drill rod are loosened, the drill rod can be directly conveyed to the rod cabin for storage, and the operation is cyclically performed until all the drill rods are collected. The connection is smooth, the whole process is automatic, the collection is fast, and no manual operation is required, thereby preventing dust from damaging the health of the operator. It is also convenient, fast and efficient, thereby improving the efficiency of drilling.

[0065] Furthermore, if Figure 3 As shown, the drill rods are threadedly connected to each other, the drill rods are threadedly connected to the lifting device, and the clamping device includes a first clamping device and a second clamping device;

[0066] The steps of S2 include:

[0067] S21: Control the first clamping device to clamp the tail of the current drill rod, and control the second clamping device to clamp the previous drill rod;

[0068] S22: Controlling the first clamping device and / or the second clamping device to rotate to a preset angle;

[0069] S23: controlling the first clamping device to release the current drill rod;

[0070] S24: Control the lifting device to drive the current drill rod to rotate, so that the current drill rod is separated from the previous drill rod.

[0071] The steps of S4 include:

[0072] S41: Control the lifting device to rotate and separate from the current drill pipe.

[0073] By setting two clamping devices, after the drill rod is pulled up, the first clamping device and the second clamping device respectively clamp the connection points of the two drill rods, and then the first clamping device or the second clamping device is rotated, or the first clamping device and the second clamping device are rotated in opposite directions at the same time, so that the two connected drill rods are first loosened, and then released after loosening, and then the current drill rod is driven to rotate by the lifting device to separate the two drill rods, and then separated from the drill rod by controlling the rotation of the lifting device; in this way, it can be avoided that the drill rods are directly separated by the rotation of the lifting device, resulting in the inability to control whether the connection between the drill rods and the drill rods is loosened first or the connection between the drill rod and the lifting device is loosened first. If the connection between the drill rod and the lifting device is loosened first, the subsequent rod collection step cannot be completed. The method in this embodiment ensures that the drill rod is automatically recovered in place.

[0074] Furthermore, if Figure 4 As shown, the drill rods are arranged in a circular array in the rod cabin, and the step S5 includes:

[0075] S51: Control the transmission device to grasp the drill pipe;

[0076] S52: Control the conveying device to rotate at a preset angle to deliver the drill rod to the rod cabin;

[0077] S53: Control the conveying device to release the drill rod and wait at the rod cabin;

[0078] S54: Controlling the rod cabin to rotate by a preset angle;

[0079] S55: When the next drill rod rises to the preset position, the manipulator is controlled to rotate to a preset angle to grasp the drill rod.

[0080] In this way, the conveying device only needs to rotate between two points to convey the drill rod, and the control is simple; then for the rod cabin, it is only necessary to set a preset rotation angle to wait for the arrival of the next drill rod. Each time the rod cabin rotates an angle, the conveying device sends the drill rod in. This cycle can be repeated to store all the drill rods in the rod cabin, and the removed drill rods can be automatically stored.

[0081] When the last rod is received, the steps include:

[0082] Control the lifting device to drive the last drill rod to rise to the preset position;

[0083] The clamping device and the conveying device are controlled to keep the drill rod clamped until the next drilling.

[0084] In this way, another drill rod can be stored between the clamping device and the lifting device, and an additional drill rod can be stored within the maximum capacity of the rod cabin. When drilling next time, the clamping device and the conveying device are controlled to loosen and the hole can be opened without the need to combine the drill rod and the drill bit.

[0085] In one embodiment, when the lifting device drives the drill rod to rise to the preset position from the bottom, the lifting device drives the drill rod to rotate at the same time, and stops after rising to the preset position. After drilling the hole, the drill rod is drilled deep, and it is difficult to pull out the drill rod due to the adsorption of the hole and the accumulation of sand and dust drilled out. By rotating and rising at the same time, the accumulated sand and dust can be removed, avoiding hard pulling, making the pull-out of the drill rod smoother and reducing the required pulling force.

[0086] The embodiment of the present invention further discloses a readable storage medium, which is arranged in the drilling device and stores a computer program. When the computer program is executed by a processor, the steps of the automatic rod closing method are implemented.

[0087] It should be noted that the limitations on the various steps involved in this scheme, without affecting the implementation of the specific scheme, are not deemed to limit the order of the steps. The steps written in the front can be executed first, or can be executed later, or even simultaneously. As long as this scheme can be implemented, it should be regarded as belonging to the scope of protection of the present invention.

[0088] The above contents are further detailed descriptions of the present invention in combination with specific optional implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A method for automatically closing a drilling rod of a drilling device, comprising an action of automatically closing a drilling rod after the drilling device has completed drilling a hole, characterized in that: The automatic rod closing comprises the following steps: Control the lifting device to drive the drill rod to rise, and at the same time drive the drill rod to rotate, and stop after rising to a preset position; Control the clamping device to separate the current drill rod from the previous drill rod; Control the conveyor to grasp the drill pipe; Control the lifting device to rotate and separate from the current drill pipe; Control the conveying device to rotate at a preset angle to deliver the drill rod to the rod cabin; The conveying device is controlled to release the drill rod and wait in the rod cabin; when the next drill rod rises to a preset position, the manipulator is controlled to rotate a preset angle to grasp the drill rod; wherein the drill rods are arranged in the rod cabin in a circular array, and each time the rod cabin rotates an angle, the conveying device sends the drill rods in, and all the drill rods can be stored in the rod cabin in this cycle, and the removed drill rods can be automatically stored; the drill rods are threadedly connected to the lifting device; The drill rods are threadedly connected to each other, and the clamping device includes a first clamping device and a second clamping device; The step of controlling the clamping device to separate the current drill rod from the previous drill rod comprises: Control the first clamping device to clamp the tail of the current drill rod, and control the second clamping device to clamp the previous drill rod; Controlling the first clamping device and / or the second clamping device to rotate at a preset angle; Controlling the first clamping device to release the current drill rod; Control the lifting device to drive the current drill rod to rotate, so that the current drill rod is separated from the previous drill rod; When the last rod is received, the steps include: Control the lifting device to drive the last drill rod to rise to the preset position; Control the clamping device and the conveying device to keep the drill rod clamped until the next drilling; Wherein, the drilling equipment comprises: beam; a rod cabin fixed to one side of the beam; A plurality of drill rods, stored in the rod cabin, for drilling holes; A lifting device, arranged on the beam, moves along the beam, and is used to drive the drill rod to move; A conveying device is rotatably disposed between the beam and the rod cabin, and is rotated between the beam and the rod cabin to convey the drill rod between the beam and the rod cabin; The clamping device is arranged at the bottom of the beam and is used for clamping the drill rod and loosening the connection between the drill rods.

2. The automatic rod closing method of a drilling equipment according to claim 1, characterized in that: The conveying device is a manipulator, and the manipulator grasps the drill rod to perform rotational conveying.

3. The automatic rod closing method of a drilling device according to claim 1, characterized in that: After the step of controlling the conveying device to convey the current drill rod to the rod cabin for storage, the following steps are included: Control the rod cabin to rotate to a preset angle.

4. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic finishing method according to any one of claims 1 to 3 are implemented.

5. A drilling device, characterized in that: For implementing the automatic rod closing method according to any one of claims 1 to 3, the drilling equipment comprises: beam; a rod cabin fixed to one side of the beam; A plurality of drill rods, stored in the rod cabin, for drilling holes; A lifting device, arranged on the beam, moves along the beam, and is used to drive the drill rod to move; A conveying device is rotatably disposed between the beam and the rod cabin, and is rotated between the beam and the rod cabin to convey the drill rod between the beam and the rod cabin; The clamping device is arranged at the bottom of the beam and is used for clamping the drill rod and loosening the connection between the drill rods.

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