Automatic rod replacing device, directional drilling machine and method

Abstract

The invention discloses an automatic drill rod replacing device, a directional drilling machine and a method, and relates to the technical field of directional drilling, the automatic drill rod replacing device comprises a drill rod box and a drill rod replacing manipulator, the drill rod box comprises two sets of drill rod storage bins which are symmetrically arranged, each set of drill rod storage bins is provided with multiple layers, and the correspondingly arranged drill rod storage bins jointly contain multiple drill rods; a fixed support and a movable support are installed at the bottom of the drill rod box, and the movable support is used for enabling the drill rod box to incline by a set angle during working so that the drill rod can fall into the rod replacing mechanical arm. The drill rod can be automatically and rapidly replaced, the construction efficiency is improved, and the device is suitable for replacing long drill rods.

Description

Technical Field

[0001] The present invention relates to the technical field of directional drilling, and particularly relates to an automatic rod-changing device, a directional drilling rig, and a method. Background Art

[0002] Directional drilling technology has the advantage of long-distance precise crossing and is often applied to fields such as tunnel engineering geological exploration and disaster disposal, coal mine floor aquifer transformation, and oil and gas exploitation. During the construction process of a directional drilling rig, it usually requires multiple people to cooperate to replace drill rods, resulting in low construction efficiency.

[0003] In order to overcome the problems existing in manual rod replacement, there are already some automatic rod-changing devices in the prior art. For example, a drilling rig with an offset drill rod box. However, due to the offset installation, it is prone to problems such as wear of one side of the crawler and insufficient transportation safety. There are also some coal mine drilling rigs equipped with an automatic loading and unloading system. The automatic loading and unloading system includes a drill rod box, a rod feeding manipulator, a drill rod transporter, etc. The drill rod box is provided with multiple layers of spaces for accommodating drill rods. The rod feeding manipulator grabs the drill rod from the drill rod box and places it on the drill rod transporter. Although the above-mentioned equipment can realize the automatic grasping and replacement of drill rods, the rod feeding manipulator is arranged above the drill rod box, and there is a problem of insufficient grasping stability for longer drill rods. And the setting direction of the drill rod is perpendicular to the moving direction of the drilling rig. When replacing the drill rod, other mechanisms need to be additionally configured to adjust the drill rod direction, resulting in a relatively complex structure of the equipment. Summary of the Invention

[0004] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide an automatic rod-changing device, a directional drilling rig, and a method, which can realize the automatic and rapid replacement of drill rods, improve the construction efficiency, and are applicable to the replacement of long drill rods.

[0005] In order to achieve the above purpose, the present invention is realized through the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides an automatic rod-changing device, including a drill rod box and a rod-changing manipulator. The drill rod box includes two groups of symmetrically arranged drill rod storage bins. Each group of drill rod storage bins is provided with multiple layers, and the correspondingly arranged drill rod storage bins jointly contain multiple drill rods. A fixed bracket and a movable bracket are installed at the bottom of the drill rod box. The movable bracket is used to tilt the drill rod box by a set angle during operation so that the drill rod falls into the rod-changing manipulator.

[0007] As a further implementation manner, the drill rod storage bin includes a plurality of mutually parallel partitions, and a drill rod accommodating space is formed between adjacent partitions.

[0008] As a further implementation manner, a slide rail is installed on the upper surface of the partition.

[0009] As a further implementation, fixed brackets and movable brackets are installed at the bottom of each drill pipe storage bin;

[0010] The fixed bracket is rotatably connected to the drill pipe box; the movable bracket is connected to the drill pipe box through an adjusting seat, and an adjusting oil cylinder is connected between the adjusting seat and the movable bracket.

[0011] As a further implementation, the pipe-changing manipulator is connected to a lifting device.

[0012] As a further implementation, at least two pipe-changing manipulators are provided, and the pipe-changing manipulators are arranged above the fixed bracket.

[0013] As a further implementation, during operation, the drill pipe box is inclined at 20° to 25°.

[0014] In a second aspect, an embodiment of the present invention further provides a directional drill, on which the automatic pipe-changing device described above is installed.

[0015] As a further implementation, the arrangement direction of the drill pipes in the drill pipe storage bin is parallel to the moving direction of the drill.

[0016] In a third aspect, an embodiment of the present invention further provides a pipe-changing method for a directional drill, including:

[0017] In the transportation state, the drill pipe box is in a horizontal state;

[0018] In the working state, one end of the drill pipe box is lifted by a set angle, and the drill pipe corresponding to the pipe-changing manipulator falls into the pipe-changing manipulator;

[0019] The pipe-changing manipulator grabs the drill pipe and sends it to the spindle position.

[0020] The beneficial effects of the above embodiments of the present invention are as follows:

[0021] (1) The automatic pipe-changing device of the present invention mainly includes a drill pipe box and a pipe-changing manipulator. The drill pipe box realizes the multi-layer storage of drill pipes through two groups of symmetrically arranged drill pipe storage bins, improving the accommodation capacity of drill pipes and enabling the directional drill to work for a long time; the correspondingly arranged drill pipe storage bins jointly hold multiple drill pipes and are suitable for the storage of long drill pipes; since fixed brackets and movable brackets are installed at the bottom of the drill pipe box, the two cooperate to change the angle of the drill pipe box, making the drill pipe box have a low center of gravity during transportation with the directional drill, improving the stability of the equipment; and when the drill pipe needs to be replaced, the drill pipe box can be inclined at a certain angle to ensure that the drill pipe smoothly enters the pipe-changing manipulator, improving the grasping efficiency of the pipe-changing manipulator for the drill pipe.

[0022] (2) The drill pipe box of the present invention can be tilted by 20° to 25°. This angle range can ensure that the drill pipes roll smoothly to the pipe-changing manipulator, ensuring the grasping accuracy of the pipe-changing manipulator. The fixed bracket and the movable bracket are installed corresponding to each group of drill pipe storage bins, which can ensure the transportation and grasping stability of the drill pipes. Moreover, the setting direction of the drill pipe box ensures that the drill pipes therein are in the same direction as the moving direction of the directional drilling rig, and will not affect the operation of the equipment due to the excessive lateral dimension of the equipment. At the same time, this setting direction facilitates the replacement of the drill pipes.

[0023] (3) There are at least two pipe-changing manipulators in the present invention. The pipe-changing manipulators are connected to the lifting device, which can change the height of the pipe-changing manipulators so that they can grasp drill pipes at different layers. The cooperation of at least two pipe-changing manipulators can ensure the stable grasping of the drill pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0025] Figure 1 is a three-dimensional view of the automatic pipe-changing device according to one or more embodiments of the present invention Figure One ;

[0026] Figure 2 is a three-dimensional view of the automatic pipe-changing device according to one or more embodiments of the present invention Figure Two ;

[0027] Figure 3 is a side view of the automatic pipe-changing device according to one or more embodiments of the present invention;

[0028] Figure 4 is a schematic structural view of the drill pipe storage bin according to one or more embodiments of the present invention;

[0029] Figure 5 is a schematic structural view of the pipe-changing manipulator according to one or more embodiments of the present invention;

[0030] Figure 6 is a schematic structural view of the directional drilling rig according to one or more embodiments of the present invention;

[0031] Figure 7 is a schematic installation view of the automatic pipe-changing device and the directional drilling rig according to one or more embodiments of the present invention.

[0032] Among them, 1. drill pipe box, 2. fixed support, 3. movable support, 4. pipe-changing manipulator, 5. lifting device, 6. drill pipe, 7. drill pipe storage bin, 8. partition board, 9. slide rail, 10. mechanical gripper, 11. gripper oil cylinder, 12. adjusting seat, 13. adjusting oil cylinder, 14. baffle plate, 15. directional drilling rig. Detailed implementation mode

[0033] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0034] For the convenience of narration, if the words "upper", "lower", "left", and "right" appear in the present invention, they only represent the same directions as the upper, lower, left, and right of the attached drawings themselves, and do not limit the structure. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0035] Embodiment 1:

[0036] For the directional drilling rig that can automatically change drill pipes, there is an offset drill pipe box installation structure in the prior art. After the drill pipe box is loaded with drill pipes, the center of gravity of the whole machine is offset. When self-propelling, especially on muddy roads, it is more likely to get stuck in the mud. At the same time, one side of the crawler is worn more seriously, and the safety cannot be guaranteed when transporting the drill pipes on the vehicle; while the existing upper-mounted installation structure has problems such as insufficient grasping stability and relatively complex structure.

[0037] This embodiment provides an automatic pipe-changing device, as Figures 1 - 3 shown, including a drill pipe box 1, a fixed support 2, a movable support 3 and a pipe-changing manipulator 4. The drill pipe box 1 is installed on the upper side of the directional drilling rig 15 through the fixed support 2 and the movable support 3, forming an upper-mounted installation method; and the movable support 3 can change the angle of the drill pipe box 1, so that when it is tilted at a certain angle, the pipe-changing manipulator 4 can grab the drill pipe 6 at the corresponding position, realizing the rapid and accurate grasping of the drill pipe 6.

[0038] Specifically, the drill pipe box 1 includes two groups of drill pipe storage bins 7 arranged oppositely. Taking the moving direction of the directional drilling rig 15 as a reference, the two groups of drill pipe storage bins 7 are arranged front and back, and the two cooperate to realize the storage of multiple layers of drill pipes 6. As Figure 4 shown, the drill pipe storage bin 7 includes a plurality of partition boards 8. The plurality of partition boards 8 are parallel to each other and are evenly spaced in the height direction. A drill pipe 6 accommodation space is formed between adjacent partition boards 8.

[0039] The partition plate 8 has a certain length. In the non-operating state, the partition plate 8 is in a horizontal state, and the length direction of the partition plate 8 is perpendicular to the moving direction of the directional drilling rig 15; the width of the partition plate 8 is sufficient to support the end of the drill pipe 6. When the two groups of drill pipe storage bins 7 store the drill pipes 6, for the same drill pipe 6, one end is supported by one group of drill pipe storage bins 7, and the other end is supported by the other group of drill pipe storage bins 7; and because the partition plate 8 has a certain length, each layer of drill pipe 6 accommodation space can accommodate multiple drill pipes 6, improving the storage capacity of the drill pipes 6 in the drill pipe box 1.

[0040] Since the drill pipe box 1 of this embodiment is lifted at a certain angle when the drill pipe 6 needs to be replaced, causing the drill pipe 6 to move towards the drill pipe storage bin 7 side, in order to enable the drill pipe 6 to move smoothly, a slide rail 9 is installed on the upper surface of the partition plate 8, and the setting direction of the slide rail 9 is the same as the length direction of the partition plate 8.

[0041] The angle of the drill pipe box 1 of this embodiment can be adjusted to facilitate the grasping of the drill pipe 6. The angle adjustment of the drill pipe box 1 is achieved through the following structure: as Figures 1 - 3 shown, a fixed bracket 2 and a movable bracket 3 are installed at the bottom of the drill pipe box 1. The fixed bracket 2 and the movable bracket 3 are used to connect the directional drilling rig 15. In order to ensure the stability of the device during the angle adjustment process, a fixed bracket 2 and a movable bracket 3 are installed at the bottom of each group of drill pipe storage bins 7.

[0042] According to Figure 1 the shown direction, the fixed bracket 2 is arranged on the left side of the drill pipe box 1, and the top of the fixed bracket 2 is hinged to the left end of the drill pipe storage bin 7; the movable bracket 3 is arranged near the right side of the drill pipe box 1, and an adjustment seat 12 is installed between the top of the movable bracket 3 and the bottom of the drill pipe storage bin 7. The adjustment seat 12 cooperates with the adjustment oil cylinder 13 to change the inclination angle of the drill pipe box 1. In this embodiment, the adjustment seat 12 is in the form of a triangular seat, one corner of which is hinged to the drill pipe storage bin 7, the other corner is hinged to the movable bracket 3, and the middle corner is connected to the movable end of the adjustment oil cylinder 13, and the fixed end of the adjustment oil cylinder 13 is connected to the movable bracket 3.

[0043] In the initial state, the adjustment oil cylinder 13 contracts, making the right end and the left end of the drill pipe box 1 at the same horizontal plane, keeping the drill pipe box 1 with a low center of gravity and facilitating the transportation safety of the drill pipe 6. When the drill pipe 6 needs to be replaced, the adjustment oil cylinder 13 extends, lifting the left end of the drill pipe box 1. The inclination angle between the drill pipe box 1 and the horizontal plane is between 20° and 25°. This angle range can ensure that the drill pipe 6 rolls smoothly to the pipe-changing manipulator 4. When the angle is lower than 20°, the drill pipe 6 cannot roll smoothly to the pipe-changing manipulator 4, and when the angle is higher than 25°, the overall stability of the drill pipe box 1 will decrease, which is not conducive to the construction safety.

[0044] Since the drill pipe box 1 is in an inclined state when the drill pipe 6 is grabbed in this embodiment, in order to prevent the drill pipe 6 at the end (near the right end) from sliding out of the drill pipe box 1 when the drill pipe box 1 is inclined, baffles 14 are installed at both ends of the partition plate 8 to block the drill pipe 6. The grasping position of the pipe-changing manipulator 4 is inside the baffle 14, which does not affect the drill pipe 6 from falling into the pipe-changing manipulator 4.

[0045] The pipe-changing manipulator 4 is installed on one side of the drill pipe box 1 corresponding to the fixed bracket 2, that is, the right side. The pipe-changing manipulator 4 is connected to the lifting device 5, and the pipe-changing manipulator 4 can correspond to the drill pipe accommodation spaces of different layers through the lifting device 5. In order to ensure the stability when grasping the drill pipe 6, two pipe-changing manipulators 4 are provided in this embodiment, and each pipe-changing manipulator 4 corresponds to one end of the drill pipe 6 to achieve simultaneous grasping of both ends of the drill pipe 6, so as to ensure the stable grasping of the drill pipe 6 even for a relatively long drill pipe 6.

[0046] As Figure 5 shown, the pipe-changing manipulator 4 includes a mechanical gripper 10 and a gripper oil cylinder 11. The gripper oil cylinder 11 can control the clamping or loosening state of the mechanical gripper 10. Its specific structure is the same as that of the existing manipulator structure and will not be elaborated here. The lifting device 5 only needs to be able to raise or lower the pipe-changing manipulator 4, and it is also an existing structure.

[0047] It can be understood that in other embodiments, the adjusting oil cylinder 13 and the gripper oil cylinder 11 can also be driving components such as air cylinders.

[0048] In this embodiment, the drill pipe box 1 is equipped with a travel switch for detecting the position of the pipe-changing manipulator 4. When the pipe-changing manipulator 4 moves to the rod-taking position, the travel switch transmits a signal to the control system, and the control system controls the drill pipe box 1 to lift. At the same time, the pipe-changing manipulator 4 is also equipped with a travel switch for monitoring whether the drill pipe 6 enters the mechanical gripper 10. When the drill pipe 6 is in place, the control system controls the gripper oil cylinder 11 to clamp the drill pipe 6 with the mechanical gripper 10.

[0049] The drill pipe box 1 of this embodiment can accommodate multiple layers of drill pipes 6, and multiple drill pipes 6 are arranged in each layer, which can meet the replacement requirements of the directional drill pipes 6; the pipe-changing manipulator 4 can be lifted and lowered and can grasp the drill pipes 6 on any layer. When the drill pipe 6 needs to be replaced, only the drill pipe box 1 needs to be lifted, and the drill pipe 6 automatically falls into the mechanical gripper 10 of the pipe-changing manipulator 4. The pipe-changing manipulator 4 lowers the drill pipe 6 to the spindle position under the drive of the lifting device 5 and waits for the drill pipe 6 to be installed. The pipe-changing manipulator 4 can also put the replaced drill pipe 6 back into the drill pipe box 1.

[0050] The rod-changing manipulator 4 of this embodiment cooperates with the drill pipe box 1, which can improve the grasping efficiency and accuracy of the drill pipe 6 and realize rapid rod changing. The arrangement direction of the drill pipe 6 in the drill pipe box 1 is consistent with the moving direction of the directional drill 15, which is convenient for replacing the drill pipe 6 and will not cause the lateral dimension of the equipment to be too large due to the excessive length of the drill pipe 6.

[0051] Embodiment 2:

[0052] This embodiment provides a directional drill, as Figure 6 and Figure 7 shown. The automatic rod-changing device described in Embodiment 1 is installed on its upper side. The two groups of drill pipe storage bins 7 are arranged front and back, so that the arrangement direction of the drill pipe 6 is consistent with the moving direction of the directional drill 15, which is convenient for replacing the drill pipe 6 and does not require additional mechanisms to adjust the drill pipe direction, simplifying the equipment structure.

[0053] During the transportation process of the drill pipe 6 by the directional drill 15, the drill pipe box 1 is in a horizontal state, saving transportation space; when the drill pipe 6 needs to be replaced, one side of the drill pipe box 1 is lifted by a certain angle, and under the action of gravity, the drill pipe 6 enters the mechanical gripper 10. After the mechanical gripper 10 grasps the drill pipe 6, the lifting device 5 drives the rod-changing manipulator 4 and the drill pipe 6 to move down, and places the drill pipe 6 at the spindle position.

[0054] Embodiment 3:

[0055] This embodiment provides a rod-changing method for a directional drill. Based on the directional drill described in Embodiment 2, the specific rod-changing process is as follows:

[0056] Before the directional drill 15 replaces the drill pipe 6, the drill pipe box 1 remains in a horizontal state.

[0057] When the drill pipe 6 needs to be replaced, the mechanical gripper 10 of the rod-changing manipulator 4 opens and moves to the drill pipe 6 accommodation space at the corresponding layer, that is, the rod-taking position. For example, the rods can be taken in sequence from the lowest layer to the highest layer; the travel switch detects that the rod-changing manipulator 4 is in place; the adjusting oil cylinder 13 extends to make the drill pipe box 1 tilt by a certain angle (such as 20°). Due to the action of gravity, the drill pipe 6 moves along the slide rail 9 into the mechanical gripper 10. The travel switch detects that the drill pipe 6 has fallen into the mechanical gripper 10 and transmits an electrical signal to the control system, and the control system makes the gripper oil cylinder 11 act to grasp the drill pipe 6.

[0058] The lifting device 5 drives the rod-changing manipulator 4 to descend. When it reaches the spindle position, the lower limit travel switch is energized and the lifting device 5 stops.

[0059] The thread oil spraying device of the drill pipe 6 on the directional drill 15 sprays thread oil on the male head of the drill pipe 6. After the spindle is sent to the drill pipe 6 docking position, the control spindle rotates to connect the drill pipe 6 with the spindle.

[0060] In this embodiment, the rod-changing manipulator 4 cooperates with the drill pipe box 1 to transfer the drill pipe 6 to the main spindle position. By operating the rotation of the main spindle, the connection between the main spindle and the drill pipe 6 can be realized, and the rod-changing operation can be achieved.

[0061] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic rod-changing device, characterized in that, It includes a drill pipe box and a drill pipe changing manipulator. The drill pipe box includes two groups of symmetrically arranged drill pipe storage bins. Each group of drill pipe storage bins has multiple layers, and the correspondingly arranged drill pipe storage bins jointly contain multiple drill pipes. A fixed support and a movable support are installed at the bottom of the drill pipe box. The movable support is used to tilt the drill pipe box at a set angle during work so that the drill pipes fall into the drill pipe changing manipulator.

2. The automatic rod-changing device according to claim 1, wherein The drill pipe storage bin includes a plurality of mutually parallel partitions, and a drill pipe accommodation space is formed between adjacent partitions.

3. The automatic rod changing device according to claim 2, characterized in that, Slide rails are installed on the upper surface of the partition.

4. The automatic rod changing device according to claim 1, characterized in that, Fixed supports and movable supports are installed at the bottom of each group of drill pipe storage bins; The fixed support is rotationally connected to the drill pipe box; the movable support is connected to the drill pipe box through an adjustment seat, and an adjustment oil cylinder is connected between the adjustment seat and the movable support.

5. An automatic rod-changing device according to claim 1, characterized in that, The drill pipe changing manipulator is connected to a lifting device.

6. An automatic rod-changing device according to claim 1 or 5, characterized in that, There are at least two drill pipe changing manipulators, and the drill pipe changing manipulators are arranged above the fixed support.

7. The automatic rod changing device according to claim 1, characterized in that, During work, the drill pipe box is tilted by 20° to 25°.

8. A directional drilling rig, characterized in that, An automatic drill pipe changing device as described in any one of claims 1-7 is installed on its upper side.

9. The directional drilling rig according to claim 8, wherein, The arrangement direction of the drill pipes in the drill pipe storage bin is parallel to the moving direction of the drilling rig.

10. A rod-changing method for a directional drilling rig according to claim 9, characterized in that, It includes: In the transportation state, the drill pipe box is in a horizontal state; In the working state, one end of the drill pipe box is lifted at a set angle, and the drill pipes corresponding to the drill pipe changing manipulator fall into the drill pipe changing manipulator; The drill pipe changing manipulator grabs the drill pipes and sends them to the spindle position.

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