A dual-circuit parallel rod-repairing device and a dual-circuit rod-repairing system

Abstract

The present invention discloses a dual-circuit parallel rod-making device and a dual-circuit rod-making system, comprising an upper and lower rod device and two sets of water-feeder disassembly and assembly devices; the device can utilize the dual-circuit parallel rod-making device to complete the automatic continuous installation and disassembly of the drill rod, adopts two sets of water-feeder devices for independent water supply, automatically completes the waterway switching, and does not require manual intervention throughout the entire process, thus saving the time for installing and unloading the water-feeder device and reducing the auxiliary waiting time, while achieving high-precision make-up and make-up between the drill rods, short stabilization adjustment time, extending the service life of the drill rod, reducing the labor intensity of workers, having a wide range of applications, greatly improving the operating efficiency of the drilling rig, and having good safety, providing a theoretical basis for the automated construction of main shaft through-hole tunnel drilling rigs in coal mines and improving operating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of rod-replacing devices for spindle through-hole tunnel drilling rigs in coal mines, and in particular to a dual-circuit parallel rod-replacing device for spindle through-hole tunnel drilling rigs in coal mines and a use method thereof. Background Art

[0002] With the increasing intensity and depth of underground coal mining, deep coal resources have become a strategic guarantee for my country's main energy source. The most direct and effective method of extracting coalbed methane is to drill holes along the coal seam and drill holes at high positions in the roof. To improve drilling efficiency, tunnel drilling rigs generally use a spindle through-hole rotary device with a hydraulic chuck and a rear rod adding method. According to the requirements of existing construction processes, manual loading and unloading of drill rods and water-powered devices is currently common, which greatly prolongs the waiting time for drilling rig assistance. At the same time, due to the characteristics of the drill rod's weight and high aspect ratio, the manual labor intensity is high, the operation is cumbersome, and the construction efficiency is low. In addition, manual loading and unloading of drill rods is particularly difficult during high-position drilling and large-angle inclined drilling, posing a hidden danger to the operator's safety. At present, the use of automation and intelligent means to improve equipment efficiency and work quality and ensure the safety of operators in coal mines has become a mainstream awareness.

[0003] In response to the construction needs of spindle through-hole tunnel drilling rigs, there are no special mechanical devices or components at home and abroad to complete the above operations. Manual or non-specialized robotic arms are generally used to load and unload drill rods and water-powered devices, which has become one of the key components that seriously restricts the overall construction safety and construction efficiency of tunnel drilling rigs. Summary of the Invention

[0004] In view of the defects or shortcomings of the prior art, the present invention provides a dual-circuit parallel rod replenishing device.

[0005] To this end, the dual-circuit parallel rod-repairing device provided by the present invention includes an upper and lower rod device, a water stool disassembly and assembly device A, and a water stool disassembly and assembly device B;

[0006] The upper and lower rod device includes an angle adjustment device, a rod rubbing mechanism and a mechanical gripper; the angle adjustment device is arranged beside the position where the rod is to be added; the rod rubbing mechanism and the mechanical gripper are installed on the angle adjustment device;

[0007] The angle adjustment device is used to adjust the position of the mechanical gripper relative to the drill rod to be added or the drill rod to be removed; the angle adjustment device is also used to adjust the position of the rod twisting mechanism relative to the drill rod to be added or the drill rod to be removed; the angle adjustment device is also used to adjust the relative position between the mechanical gripper and the rod twisting mechanism; and the angle adjustment mechanism is also used to adjust the position of the rod twisting mechanism relative to the water stool disassembly and assembly device A and the water stool disassembly and assembly device B;

[0008] The mechanical gripper is used to grab the drill rod to be added or to be removed;

[0009] With the help of a mechanical gripper, the drill rod to be added is installed in the rod-rubbing mechanism, which completes the connection between the drill rod and the part to be added by rotating itself. The rod-rubbing mechanism is also used to complete the removal of the drill rod by rotating itself.

[0010] The water stool disassembly and assembly device A is arranged beside the rod to be added, and is used to transport the water stool A to the drill rod A to be added. With the assistance of the water stool disassembly and assembly device A, the rod rubbing mechanism completes the connection between the drill rod A and the water stool A by rotating itself;

[0011] The water stool disassembly and assembly device B is arranged beside the rod to be added, and is used to transport the water stool B to the drill rod B to be added. With the assistance of the water stool disassembly and assembly device B, the rod rubbing mechanism completes the connection between the drill rod B and the water stool B by rotating itself;

[0012] The drill rod A and drill rod B are drill rods that need to be loaded and unloaded with water during the construction process, and the part of drill rod B to be loaded with water is the tail end of drill rod A.

[0013] Furthermore, the angle adjustment device includes a first translation device, a lifting mechanism, a first telescopic device, a second telescopic device and a third telescopic device;

[0014] The first translation device is used to be arranged beside the position where the rod is to be added, the lifting mechanism is installed on the first translation device, the first telescopic device is installed on the lifting mechanism, the second telescopic device and the third telescopic device are installed on the first telescopic device, the mechanical gripper is installed on the second telescopic device, and the rod rubbing mechanism is installed on the third telescopic device;

[0015] The first translation device drives the lifting mechanism and the components installed on the lifting mechanism to perform translational movement, wherein the lifting direction of the lifting mechanism is perpendicular to the translation direction of the first translation device;

[0016] The lifting mechanism drives the first telescopic device and the components mounted on the first telescopic device to move up and down, wherein the telescopic direction of the first telescopic device is perpendicular to the lifting direction of the lifting mechanism;

[0017] The third telescopic device drives the rubbing rod mechanism to move, and the second telescopic device drives the mechanical gripper to move, and the telescopic direction of the second telescopic device is perpendicular to the telescopic direction of the third telescopic device, and the telescopic direction of the second telescopic device and the telescopic direction of the third telescopic device are both perpendicular to the telescopic direction of the first telescopic device;

[0018] The mechanical gripper grasps or releases the drill rod by opening and closing, and the opening and closing directions of the mechanical gripper are perpendicular to the telescopic direction of the third telescopic device.

[0019] Furthermore, the first telescopic device is installed on the lifting mechanism through a mounting bracket.

[0020] Furthermore, the rod-rubbing mechanism includes a first motor and a base body, and the first motor and the base body are both mounted on a third telescopic device; a through hole is provided on the base body, and the axial direction of the through hole is parallel to the telescopic direction of the third telescopic device; a driving wheel and a plurality of driven wheels are provided on the inner wall of the through hole, and the driving wheel and the plurality of driven wheels are distributed along the circumference of the through hole, and at the same time, parts of the driving wheel and the plurality of driven wheels protrude from the inner wall surface of the through hole, and the aperture formed by the driving wheel and the plurality of driven wheels can accommodate the drill rod to be loaded and unloaded; the first motor is used to drive the driving wheel to rotate, and the rotation of the driving wheel can drive the drill rod to be loaded and unloaded in the through hole to move axially, and the axial movement direction is parallel to or in the same direction as the telescopic direction of the third telescopic device.

[0021] Furthermore, it also includes a storage tray, which is placed under the mechanical gripper. The length direction of the storage tray can accommodate the axial length of the drill rod, and the length direction of the storage tray is perpendicular to the opening and closing direction of the mechanical gripper. At the same time, the bottom surface of the storage tray is inclined, and the inclination direction of the bottom surface is perpendicular to the length direction.

[0022] Furthermore, the water stool disassembly and assembly device A includes a second translation device A, a first mechanical arm A, a second mechanical arm A and a water stool gripper A;

[0023] The second translation device A is used to be arranged beside the position where the rod is to be added.

[0024] One end of the first robotic arm A is mounted on the second translation device A, the second robotic arm A is rotatably connected to the other end of the first robotic arm A, and the water gripper A is mounted on the free end of the second robotic arm A.

[0025] The second translation device A is used to drive the first robotic arm A and the mounting components on the first robotic arm A toward or away from the location on the drill pipe A where the water toilet is to be installed or removed; when the first robotic arm A approaches the location where the water toilet is to be installed or removed, the rotation axis of the second robotic arm A and the first robotic arm A is parallel to the axial direction of the location where the water toilet is to be installed or removed;

[0026] The second robotic arm A rotates relative to the first robotic arm A to drive the toilet gripper A to move closer to or away from the toilet position to be added or removed.

[0027] Furthermore, the water stool disassembly and assembly device B includes a second translation device B, a first mechanical arm B, a second mechanical arm B and a water stool gripper B;

[0028] The second translation device B is used to be arranged beside the position where the rod is to be added.

[0029] One end of the first robotic arm B is mounted on the second translation device B, the second robotic arm B is rotatably connected to the other end of the first robotic arm B, and the water gripper B is mounted on the free end of the second robotic arm B.

[0030] The second translation device B is used to drive the first robotic arm B and the mounting components on the first robotic arm B toward or away from the location on the drill pipe B where the water toilet is to be installed or removed; when the first robotic arm B approaches the location where the water toilet is to be installed or removed, the rotation axis of the second robotic arm B and the first robotic arm B is parallel to the axial direction of the location where the water toilet is to be installed or removed;

[0031] The second robotic arm B rotates relative to the first robotic arm B to drive the water toilet gripper B to move closer to or away from the part where the water toilet is to be added or removed.

[0032] Furthermore, the first robotic arm A and the first robotic arm B have different heights.

[0033] Furthermore, the translation direction of the second translation device A, the translation direction of the second translation device B, and the motion trajectory of the first translation device are parallel.

[0034] Furthermore, the first translation device is arranged on one side of the position where the rod is to be added, and the second translation device A and the second translation device B are arranged on the other side of the position where the rod is to be added.

[0035] The present invention also provides a dual-circuit parallel rod replenishing system. The dual-circuit parallel rod replenishing system includes a feeding device and the dual-circuit parallel rod replenishing device, wherein an axial end of the feeding device is provided with a position for adding rods.

[0036] The dual-circuit parallel rod-making device of the present invention can utilize the dual-circuit parallel rod-making device to complete the automatic and continuous installation and disassembly of the drill rod, adopts two sets of water toilet devices for independent water supply, automatically completes the water channel switching, and does not require manual intervention throughout the process, saving the time of installing and unloading the water toilet device and reducing the auxiliary waiting time. At the same time, high-precision installation and removal between drill rods can be achieved, the stable adjustment time is short, the service life of the drill rod is extended, the labor intensity of workers is reduced, the scope of application is wide, the operating efficiency of the drilling rig is greatly improved, and the safety is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is one of the structural diagrams of the device of the present invention (waiting position);

[0038] Figure 2 This is the second structural diagram of the device of the present invention (the water stool disassembly and assembly device A disassembles the water stool, and the water stool disassembly and assembly device B installs the water stool);

[0039] Figure 3 It is a front view of the upper and lower rod device of the present invention;

[0040] Figure 4 for Figure 3 Side view of;

[0041] Figure 5 It is a front view of the rubbing rod device of the present invention;

[0042] Figure 6 for Figure 5 Side view of;

[0043] Figure 7 This is a schematic structural diagram of the water stool disassembly and assembly device of the present invention;

[0044] Figure 8 for Figure 7 Side view of;

[0045] Figure 9 This is a schematic diagram of the structure of the water stool after optimization of the present invention;

[0046] Figure 10 This is a structural example diagram of the feeding device. DETAILED DESCRIPTION

[0047] Unless otherwise specified, the scientific and technical terms used herein are understood according to the knowledge of ordinary technicians in the relevant fields.

[0048] The axial, horizontal, upper, lower and other directional or orientation terms described in this article are consistent with the corresponding directions or orientations in the drawings of the specification. It should be noted that the specific directions or orientations in the drawings of the specification are an example of the present invention and are intended to explain the present invention clearly. Those skilled in the art can make equivalent rotations, adjustments and exchanges based on the disclosure of this article.

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] like Figure 1 As shown, the dual-circuit parallel rod-adding device of the present invention comprises an upper and lower rod device 1, a water stool disassembly and assembly device A3 and a water stool disassembly and assembly device B4. When in use, the upper and lower rod devices are arranged on one side of the position where the rod is to be added, and the water stool disassembly and assembly device A and the water stool disassembly and assembly device B are arranged on the other side of the position where the rod is to be added. In the actual scheme, the position where the rod is to be added is as follows: Figure 1 The rotary device or the existing drill rod end of the rotary device on the feed device 5 shown in the figure; wherein, the upper and lower rod devices can realize the automatic grasping and transfer of the drill rod 2, and complete the threaded connection between the two drill rods and between the drill rod and the water toilet device; the water toilet assembly and disassembly device A and the water toilet assembly and disassembly device B can cooperate with the upper and lower rod devices to complete the installation and removal of the two water toilet devices, water toilet A and water toilet B, respectively, independently and without affecting each other; after the drill rod and / or water toilet are installed, the feed device 5 cooperates with the feeding construction of the drill rod;

[0051] In a specific solution, the upper and lower rod devices include an angle adjustment device, a rod rubbing mechanism and a mechanical gripper; the angle adjustment device is arranged beside the rod to be added; the rod rubbing mechanism and the mechanical gripper are installed on the angle adjustment device; Figure 1 As shown, the angle adjustment device is installed on one side of the base 53 of the feeding device 5, and the two sets of water stool disassembly and assembly devices are installed on the other side of the feeding device base, and the feeding device is located between the angle adjustment device and the two sets of water stool disassembly devices. The two sets of water stool disassembly and assembly devices on the other side are arranged side by side and are independent of each other.

[0052] According to the construction process, see Figure 1 and 2 As shown, the device of the present invention can be completed in sequence as a whole: the angle adjustment device, the mechanical gripper and the rod rubbing mechanism transport the drill rod A to be added to the waiting position; the water stool disassembly and assembly device A adds water stool to the waiting drill rod A; then the angle adjustment device, the mechanical gripper and the rod rubbing device assemble the drill rod A with water stool installed at the drill rod to be added; after the drill rod A is added, the drill rod construction is carried out, the angle adjustment device, the mechanical gripper and the rod rubbing mechanism transport the drill rod B to be added to the waiting position, and the water stool disassembly and assembly device B adds water stool to the waiting drill rod B; after the drill rod A construction is completed, the water stool disassembly and assembly device A removes the water stool on the drill rod A, then the angle adjustment device, the mechanical gripper and the rod rubbing device assemble the drill rod B with water stool installed at the tail end of the drill rod A; after the drill rod B is added, the drill rod construction is carried out, and the angle adjustment device, the mechanical gripper and the rod rubbing mechanism perform the subsequent installation of the drill rod according to the above steps. The specific process is:

[0053] The angle adjustment device transports the mechanical gripper to the drill rod to be added, and adjusts the orientation of the mechanical gripper to facilitate grabbing the drill rod A; after the mechanical gripper grabs the drill rod A, the mechanical gripper is driven by the angle adjustment device to send the drill rod to the rod-rubbing mechanism, and the rod-rubbing mechanism is located at one axial end of the drill rod; then the mechanical gripper grabs the drill rod A, and the rod-rubbing mechanism is driven by the angle adjustment device so that the drill rod A to be added is loaded into the rod-rubbing mechanism; then, the angle adjustment device is driven to send the rod-rubbing mechanism and the drill rod A to the vicinity of the position where the rod is to be added (i.e., the waiting position); then the water stool disassembly and assembly device A moves the water stool A to the tail end of the drill rod A, and the drill rod is connected to the water stool A through the rotating drill rod of the rod-rubbing device; then, the angle adjustment device drives the drill rod A with the water stool A installed to move to the position where the rod is to be added (such as the tail end of the previous drill rod), and the connection between the drill rod A and the position where the rod is to be added is achieved through the rotational movement of the rod-rubbing mechanism;

[0054] After the drill rod A is added, the angle adjustment device, mechanical gripper and rod twisting mechanism move away, grab the drill rod B and transport it to the waiting position, the water stool disassembly and assembly device B transports the water stool B to the tail end of the drill rod B, and the connection between the drill rod B and the water stool B is completed through the rotation of the rod twisting mechanism;

[0055] After the construction of the drill pipe A is completed, the water stool disassembly and assembly device A moves to the water stool A, and the disassembly of the water stool A is completed through the movement of the feeding mechanism;

[0056] After that, the angle adjustment device sends the drill rod B with the water block B to the tail end of the drill rod A, and the connection between the drill rod B and the drill rod A is completed through the rotation of the rubbing mechanism.

[0057] After the drill rod B is added, the drill rod construction is carried out, and the angle adjustment device, mechanical gripper and rod rubbing mechanism are used to install subsequent drill rods according to the above steps.

[0058] It should be noted that when the water stool does not need to be replaced, during the above construction process, the water stool does not need to be removed from the water stool disassembly and assembly device, and is transported to the drill pipe at each water adding link to complete the water stool adding and disassembly work.

[0059] The angle adjustment device of the present invention can be designed according to the space position and working environment to realize its function in the present invention. A structure of the angle adjustment device suitable for adding a rod to the rear of the feeding device in a coal mine is as follows: Figure 3 and 4 As shown, it includes a first translation device 11, a lifting mechanism 14, a first telescopic device 15, a second telescopic device 13 and a third telescopic device 161; wherein the first translation device is used to be arranged next to the position where the rod is to be added, the lifting mechanism 14 is installed on the first translation device 11, and the first telescopic device 15 is installed on the lifting mechanism 14. In a specific solution, the first telescopic device 15 can be installed on the first telescopic device through a mounting bracket 17; the second telescopic device 13 and the third telescopic device 161 are installed on the first telescopic device 15, the mechanical gripper 19 is installed on the second telescopic device, and the rod rubbing mechanism 16 is installed on the third telescopic device 161;

[0060] Furthermore, the working relationship and installation position of each component also satisfy the following requirements: the first translation device drives the lifting mechanism and the components installed on the lifting mechanism to perform translational motion, wherein the lifting direction of the lifting mechanism is perpendicular to the translation direction of the first translation device;

[0061] The lifting mechanism drives the first telescopic device and the components mounted on the first telescopic device to move up and down, wherein the telescopic direction of the first telescopic device is perpendicular to the lifting direction of the lifting mechanism;

[0062] The telescopic direction of the second telescopic device is perpendicular to the telescopic direction of the third telescopic device, and the telescopic directions of the second telescopic device and the third telescopic device are both perpendicular to the telescopic direction of the first telescopic device;

[0063] The mechanical gripper grabs or releases the drill rod by opening and closing, and the opening and closing directions of the gripper are perpendicular to the telescopic direction of the third telescopic device; in a specific solution, the mechanical gripper can use the gripper cylinder 12 to complete the grabbing and releasing of the drill rod.

[0064] The upper and lower rod devices of the above scheme are jointly driven by the lifting mechanism, the first, second and third telescopic devices to realize the various execution actions of the mechanical gripper 19 and the rubbing rod mechanism 16, including the grasping position for completing the grasping and placing of the drill rod, the waiting position for maintaining at a high point after grasping the drill rod, and the working position for placing the drill rod coaxially with the part to be added, such as coaxially with the hydraulic chuck on the feed device.

[0065] The rod twisting device of the present invention is used for connecting or disassembling the drill rod and the part to be added. In order to achieve the effect of the present invention, the structure of the screw threading device can be designed by combining corresponding power components. An example is as follows: Figure 5 and 6 As shown, it includes a first motor 166 and a base body 162. The first motor and the base body are both mounted on the third telescopic device 161, and can be mounted on the third telescopic device through a mounting plate 168. The base body is provided with a through hole 165, the axial direction of the through hole is parallel to the telescopic direction of the third telescopic device; the inner wall of the through hole is provided with a driving wheel 163 and a plurality of driven wheels 164. Figure 6 As shown in the figure, there are 5 driven wheels, and the driving wheel and multiple driven wheels are distributed along the circumference of the through hole. At the same time, the driving wheel and multiple driven wheels partially protrude from the inner wall surface of the through hole. The aperture formed by the driving wheel and multiple driven wheels can accommodate the drill rod to be loaded and unloaded. For example, the inner diameter of the hole formed by the driving wheel and multiple driven wheels is 0 to 2 mm smaller than the diameter of the drill rod. The first motor drives the driving wheel to rotate through the output shaft 167. The rotation of the driving wheel can drive the drill rod to be loaded and unloaded in the through hole to move axially. The axial movement direction is parallel to or in the same direction as the telescopic direction of the third telescopic device. When the device is working, the drill rod is inserted into the through hole 165 under the drive of the angle adjustment device and the mechanical gripper, and the tail end of the drill rod extends out of the rubbing rod mechanism. The upper and lower rods and the water stool are disassembled and assembled by the drive of the motor and the driving wheel. In a more preferred embodiment, the driving wheel and the driven wheel are made of tin bronze or rubber, which can be easily replaced and reduce wear on the drill rod.

[0066] In further solutions, such as Figure 7 As shown in or 8, the upper and lower rod device of the present invention also includes a storage tray 17 for storing and placing multiple groups of drill rods; in order to facilitate the mechanical gripper to grab, the storage tray 17 is placed under the mechanical gripper, and the length direction of the storage tray can accommodate the drill rods along their axial length. At the same time, the length direction of the storage tray is perpendicular to the opening and closing direction of the mechanical gripper. In addition, the bottom surface of the storage tray is inclined, and the inclination direction of the bottom surface is perpendicular to the length direction, so that the drill rods can automatically roll under the mechanical gripper.

[0067] The two sets of water stool disassembly and assembly devices of the present invention are both used for transporting and grabbing water stool. The two sets of water stool disassembly and assembly devices can adopt the same structure. A preferred structure is as follows: Figure 7 and 8 As shown:

[0068] The water stool disassembly and assembly device A includes a second translation device A31, a first robotic arm A32, a second robotic arm A33 and a water stool gripper A34, wherein the second translation device A is used to be arranged next to the part to be added to the drill rod; one end of the first robotic arm A is installed on the second translation device A, and the second robotic arm A is rotatably connected to the other end of the first robotic arm A. In the specific scheme, the two can be rotatably connected through a pin shaft, and at the same time driven by a rotating cylinder arranged at the connection point between the two; the water stool gripper A is installed at the free end of the second robotic arm A, and the positional relationship of each component also satisfies: the second translation device A is used to drive the first robotic arm A and the installation components on the first robotic arm A close to or away from the part to be added and removed of the water stool on the drill rod A; when the first robotic arm A approaches the part to be added and removed of the water stool, the rotating shafts of the second robotic arm A and the first robotic arm A are parallel to the axial direction of the part to be added and removed of the water stool; the second robotic arm A rotates relative to the first robotic arm A to drive the water stool A on the water stool gripper close to or away from the part to be added and removed of the water stool. In a further preferred solution, a solenoid valve group is provided at the bottom of the first robotic arm for opening and closing the water channel.

[0069] The water stool disassembly and assembly device B includes a second translation device B41, a first robotic arm B42, a second robotic arm B43 and a water stool gripper B44, wherein the second translation device B is used to be arranged next to the part to be added to the drill rod; one end of the first robotic arm B is installed on the second translation device B, and the second robotic arm B is rotatably connected to the other end of the first robotic arm B. In the specific scheme, the two can be rotatably connected through a pin shaft, and at the same time driven by a rotating cylinder 46 arranged at the connection point between the two; the water stool gripper B is installed at the free end of the second robotic arm B, and the positional relationship of each component also satisfies: the second translation device B is used to drive the first robotic arm B and the installation components on the first robotic arm B to approach or move away from the part to be added and removed of the water stool on the drill rod B; when the first robotic arm B approaches the part to be added and removed of the water stool, the rotating shaft of the second robotic arm B and the first robotic arm B is parallel to the axial direction of the part to be added and removed of the water stool; the second robotic arm B rotates relative to the first robotic arm B to drive the water stool B on the water stool gripper to approach or move away from the part to be added and removed of the water stool. In a further preferred solution, a solenoid valve group 45 is provided at the bottom of the first robotic arm for opening and closing the water channel.

[0070] On the basis of the above structure, in order to avoid the two sets of water stool disassembly and assembly devices from interfering with each other during operation, the two sets of water stool disassembly and assembly devices have different spatial heights or the spatial distance is sufficient to meet their respective working requirements; the heights of the two first robotic arms are different, such as Figure 7 and 8 As shown, the first robotic arm B is higher than the first robotic arm A.

[0071] In order to realize the grabbing of the feces by the feces grabber, in some preferred solutions, the feces grabber is designed to be U-shaped, and the corresponding feces base is designed to be a shape that is convenient for the U-shaped grabber to grab, for example, Figure 9The water toilet shown includes a water channel connector 61, a water channel shaft 62, a bearing seat 63 and a water channel base 64, wherein the water channel shaft is a threaded male buckle, which can ensure connection with the threaded female buckle at the tail of the drill pipe; the bearing seat is arranged on the water channel base through a bearing structure; the water channel base adopts a cube structure, and the side length is 1 to 2 mm smaller than the inner diameter of the U-shaped door plug of the water channel gripper; the water channel connector is arranged on the bearing seat and adopts a rotary joint form to ensure that the water channel connector does not rotate with the rotation of the water channel shaft, and no entanglement occurs. At the same time, it is connected to the water pipe to complete the connection and disconnection of the water channel.

[0072] In a specific embodiment, each telescopic device of the present invention can be a hydraulic telescopic device. The translation device can be a slide bar and a slider structure on the slide bar or a ball screw structure, and the whole movement of the upper and lower rod device can be realized automatically by a variable frequency motor drive.

[0073] In the further optimized scheme, Figure 3 and 4 The upper and lower rod devices shown are Figure 7 and 8 The first translation device in the water stool disassembly and assembly device is parallel to the motion track of the second translation device, and the two second translation devices are integrated together. For example, three parallel linear motion tracks are provided on both sides of the feeding device 5.

[0074] See also Figure 10 As shown, the feeding device 5 includes a rotating device 51, a supporting plate device 57, a guide rail device 58, a feeding cylinder 56, a body device 53, a clamper 52 and a guide device 55. The rotary device 51 includes a hydraulic motor 59, a gearbox 60 and a hydraulic chuck 54 connected in sequence, and adopts a central through-hole structure to ensure that the drill rod passes through the rear center of the rotary device 51 and is connected to the support device 57 through a connecting piece; the guide rail device 58 is arranged on both sides of the upper end of the body device 53, and is respectively provided with wear-resistant strips. The flatness and parallelism of the guide rail device 58 can be adjusted by adding or removing wear-resistant strips of different thicknesses; the support device is fixed to the guide rail device by bolts and can slide back and forth on the guide rail device; the two ends of the feed cylinder rod are respectively connected to the body device, and the cylinder barrel is connected to the support device, which can ensure that the cylinder barrel slides back and forth on the cylinder rod; the clamper is arranged at the front end of the body device, adopts a double-cylinder top-to-top structure, and is internally provided with a variable-diameter slip, which can complete the clamping and loosening of the drill rod; the guide device is arranged at the rear end of the body device and can perform preliminary guidance on the placed drill rod.

[0075] The specific process of adding rods is as follows:

[0076] Step 1: The feeding device 5 adjusts its posture to meet the drilling design requirements;

[0077] Step 2: The rotary device 51 moves to the front end of the feeding device. At the same time, the upper and lower rod devices move the drill rod from the waiting position to the working position on the guide device 55 through the angle adjustment device to ensure that the center of the first drill rod is concentric with the center of the hydraulic chuck 54. After the rotary device 51 retracts, the hydraulic chuck 54 is used to clamp the tail end of the first drill rod. At the same time, after the mechanical gripper 19 is released, the upper and lower rod device 1 grabs the second drill rod and moves it to the waiting position to wait. The feeding device 5 uses the first drill rod to complete the drilling construction;

[0078] Step 3: The rotary device 51 is kept at the front end of the feeding device 5, the clamp 52 clamps the tail of the first drill rod, the hydraulic chuck 54 is opened, the mechanical gripper 19 grabs the second drill rod (drill rod A) and transfers it to the working position on the guide device 55, and at the same time the water stool disassembly and assembly device A moves the first mechanical arm A back to the rear of the second drill rod, the rotary cylinder rotates the second mechanical arm A, ensuring that the water stool shaft is concentric with the center of the tail of the second drill rod, the third telescopic device moves back, and at the same time the first motor rotates in the opposite direction, so that the water stool A is threadedly connected to the tail of the second drill rod, and then the water stool The gripper A is released, and the second robotic arm A rotates in the opposite direction to its initial position and moves forward to the rear of the rotary device 51 to wait. The angle adjustment device fine-tunes the second drill rod to ensure that the center of the front end of the second drill rod is concentric with the center of the rear end of the first drill rod. The first translation device and the rod twisting device cooperate to rotate and feed the second drill rod forward, quickly and accurately connecting the second drill rod male buckle and the first drill rod female buckle, completing the initial connection. The robotic gripper grasps the second drill rod, and the rod twisting device rotates in the opposite direction to separate the second drill rod from the rod twisting device. The robotic gripper is then released.

[0079] Step 4: The rod-up and rod-down device retreats and rotates to grab the third drill rod (drill rod B) and moves to the waiting position to wait. The rotary device 51 retreats and uses the hydraulic chuck 54 to clamp the tail end of the second drill rod. It rotates forward to keep the clamp clamping the tail end of the first drill rod, so that the first drill rod and the second drill rod reach a predetermined torque, completing the connection between the first drill rod and the second drill rod; the solenoid valve group 45 provided on the first mechanical arm A is opened to connect the water channel, and the clamp is released at the same time, so that the water disassembly and assembly device A works together with the feeding device to move forward, and the drilling construction is completed using the second drill rod;

[0080] Step 5: The second robotic arm A rotates, and the water stool gripper A is inserted into the water stool A. The rotary device rotates forward to separate the water stool A from the second drill rod. The second robotic arm A rotates in the opposite direction to the initial position. At the same time, the water stool disassembly and assembly device B moves the second robotic arm B back to the rear of the third drill rod. The water stool disassembly and assembly device B and the upper and lower rod devices use the same method to cooperate to complete the connection between the water stool B and the tail of the third drill rod, ensuring that the two sets of water stools are installed and removed at the same time. Then the first translation device and the rubbing rod device use the same method to cooperate to complete the connection between the third drill rod and the second drill rod. Finally, the water stool B cooperates with the feeding device to work forward, and the drilling construction is completed using the third drill rod.

[0081] Step 6: According to the same method as steps 3 and 5, remove the water toilet of the previous drill rod at the same time, and install another water toilet of the next drill rod at the same time to ensure that the subsequent drill rods are constructed continuously in sequence.

[0082] The automatic rod unloading method uses the opposite steps of the rod replenishing method.

[0083] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0084] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0085] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A dual-circuit parallel rod-replacing device, characterized in that: It includes an upper and lower rod device, a water stool disassembly and assembly device A, and a water stool disassembly and assembly device B; The upper and lower rod device includes an angle adjustment device, a rod rubbing mechanism and a mechanical gripper; the angle adjustment device is arranged beside the position where the rod is to be added; the rod rubbing mechanism and the mechanical gripper are installed on the angle adjustment device; The angle adjustment device is used to adjust the position of the mechanical gripper relative to the drill rod to be added or the drill rod to be removed; the angle adjustment device is also used to adjust the position of the rod twisting mechanism relative to the drill rod to be added or the drill rod to be removed; the angle adjustment device is also used to adjust the relative position between the mechanical gripper and the rod twisting mechanism; and the angle adjustment mechanism is also used to adjust the position of the rod twisting mechanism relative to the water stool disassembly and assembly device A and the water stool disassembly and assembly device B; The mechanical gripper is used to grab the drill rod to be added or to be removed; With the help of a mechanical gripper, the drill rod to be added is installed in the rod-rubbing mechanism, which completes the connection between the drill rod and the part to be added by rotating itself. The rod-rubbing mechanism is also used to complete the removal of the drill rod by rotating itself. The water stool disassembly and assembly device A is arranged beside the rod to be added, and is used to transport the water stool A to the drill rod A to be added. With the assistance of the water stool disassembly and assembly device A, the rod rubbing mechanism completes the connection between the drill rod A and the water stool A by rotating itself; The water stool disassembly and assembly device B is arranged beside the rod to be added, and is used to transport the water stool B to the drill rod B to be added. With the assistance of the water stool disassembly and assembly device B, the rod rubbing mechanism completes the connection between the drill rod B and the water stool B by rotating itself; The drill rods A and B are drill rods that need to be loaded and unloaded during the construction process, and the part of the drill rod B to be loaded is the tail of the drill rod A; The angle adjustment device includes a first translation device, a lifting mechanism, a first telescopic device, a second telescopic device and a third telescopic device; The first translation device is used to be arranged beside the position where the rod is to be added, the lifting mechanism is installed on the first translation device, the first telescopic device is installed on the lifting mechanism, the second telescopic device and the third telescopic device are installed on the first telescopic device, the mechanical gripper is installed on the second telescopic device, and the rod rubbing mechanism is installed on the third telescopic device; The first translation device drives the lifting mechanism and the components installed on the lifting mechanism to perform translational movement, wherein the lifting direction of the lifting mechanism is perpendicular to the translation direction of the first translation device; The lifting mechanism drives the first telescopic device and the components mounted on the first telescopic device to move up and down, wherein the telescopic direction of the first telescopic device is perpendicular to the lifting direction of the lifting mechanism; The third telescopic device drives the rubbing rod mechanism to move, and the second telescopic device drives the mechanical gripper to move, and the telescopic direction of the second telescopic device is perpendicular to the telescopic direction of the third telescopic device, and the telescopic direction of the second telescopic device and the telescopic direction of the third telescopic device are both perpendicular to the telescopic direction of the first telescopic device; The mechanical gripper grasps or releases the drill rod by opening and closing, and the opening and closing directions of the mechanical gripper are perpendicular to the telescopic direction of the third telescopic device.

2. The dual-circuit parallel rod-repairing device according to claim 1, characterized in that: The first telescopic device is installed on the lifting mechanism through a mounting bracket.

3. The dual-circuit parallel rod-repairing device according to claim 1, characterized in that: The rod-rubbing mechanism includes a first motor and a base body, and the first motor and the base body are both mounted on the third telescopic device; a through hole is provided on the base body, and the axial direction of the through hole is parallel to the telescopic direction of the third telescopic device; a driving wheel and a plurality of driven wheels are provided on the inner wall of the through hole, and the driving wheel and the plurality of driven wheels are distributed along the circumference of the through hole, and at the same time, the driving wheel and the plurality of driven wheels are partially protruded from the inner wall surface of the through hole, and the aperture formed by the driving wheel and the plurality of driven wheels can accommodate the drill rod to be loaded and unloaded; the first motor is used to drive the driving wheel to rotate, and the rotation of the driving wheel can drive the drill rod to be loaded and unloaded in the through hole to move axially, and the axial movement direction is parallel to or in the same direction as the telescopic direction of the third telescopic device.

4. The dual-circuit parallel rod-repairing device according to claim 1, characterized in that: It also includes a storage tray, which is placed under the mechanical gripper. The length direction of the storage tray can accommodate the axial length of the drill rod, and the length direction of the storage tray is perpendicular to the opening and closing direction of the mechanical gripper. At the same time, the bottom surface of the storage tray is inclined, and the inclination direction of the bottom surface is perpendicular to the length direction.

5. The dual-circuit parallel rod-replacing device according to claim 1, characterized in that: The water stool disassembly and assembly device A includes a second translation device A, a first mechanical arm A, a second mechanical arm A and a water stool gripper A; The second translation device A is used to be arranged beside the position where the rod is to be added. One end of the first robotic arm A is mounted on the second translation device A, the second robotic arm A is rotatably connected to the other end of the first robotic arm A, and the water gripper A is mounted on the free end of the second robotic arm A. The second translation device A is used to drive the first robotic arm A and the mounting components on the first robotic arm A toward or away from the location on the drill pipe A where the water toilet is to be installed or removed; when the first robotic arm A approaches the location where the water toilet is to be installed or removed, the rotation axis of the second robotic arm A and the first robotic arm A is parallel to the axial direction of the location where the water toilet is to be installed or removed; The second robotic arm A rotates relative to the first robotic arm A to drive the water stool gripper A to move closer to or away from the part where the water stool is to be added or removed; The water stool disassembly and assembly device B includes a second translation device B, a first mechanical arm B, a second mechanical arm B and a water stool gripper B; The second translation device B is used to be arranged beside the position where the rod is to be added. One end of the first robotic arm B is mounted on the second translation device B, the second robotic arm B is rotatably connected to the other end of the first robotic arm B, and the water gripper B is mounted on the free end of the second robotic arm B. The second translation device B is used to drive the first robotic arm B and the mounting components on the first robotic arm B toward or away from the location on the drill pipe B where the water toilet is to be installed or removed; when the first robotic arm B approaches the location where the water toilet is to be installed or removed, the rotation axis of the second robotic arm B and the first robotic arm B is parallel to the axial direction of the location where the water toilet is to be installed or removed; The second robotic arm B rotates relative to the first robotic arm B to drive the water toilet gripper B to move closer to or away from the part where the water toilet is to be added or removed.

6. The dual-circuit parallel rod-repairing device according to claim 5, characterized in that: The first robotic arm A and the first robotic arm B have different heights.

7. The dual-circuit parallel rod-repairing device according to claim 5, characterized in that: The translation direction of the second translation device A, the translation direction of the second translation device B, and the motion trajectory of the first translation device are parallel.

8. The dual-circuit parallel rod-repairing device according to claim 5, characterized in that: The first translation device is arranged on one side of the position where the rod is to be added, and the second translation device A and the second translation device B are arranged on the other side of the position where the rod is to be added.

9. A dual-circuit parallel rod-replenishing system, characterized in that: The invention comprises a feeding device and a dual-circuit parallel rod-adding device according to any one of claims 1 to 8, wherein an axial end of the feeding device is provided with a position for adding rods.

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