A quick centering automatic rod changing device and method for a drilling rig
By combining mechanical coarse alignment with laser precision calibration, the problem of low alignment accuracy of the drilling rig rod changing device was solved, enabling rapid alignment of the drill rod and power head, thus improving construction efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NANTONG UNIV
- Filing Date
- 2026-03-26
- Publication Date
- 2026-06-12
AI Technical Summary
Existing drilling rig rod changing devices suffer from problems such as low centering accuracy, slow speed, poor safety, high labor intensity, and low efficiency, making it difficult to meet the automated construction needs of multiple scenarios and multiple specifications of drill rods.
By combining mechanical coarse alignment with laser precision calibration, the drill pipe and power head are quickly aligned through a drill pipe gripping system, a mechanical alignment device, and a laser alignment device.
It enables rapid alignment of the drill pipe and the power head, improves docking accuracy and efficiency, reduces reliance on manual labor and safety risks, and adapts to automated construction of drill pipes in multiple scenarios and with multiple specifications.
Smart Images
Figure CN122190640A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the technical field of engineering drilling equipment, and particularly relates to an automatic rod changing device and method for rapid alignment of drilling rigs. Background Technology
[0002] Engineering drilling rigs are widely used in geological exploration, pile foundation construction, geotechnical engineering, mine tunneling, and municipal infrastructure construction. With increasing demands for construction depth and efficiency, automatic drill rod replacement has become a key aspect of intelligent and unmanned drilling rig operations. However, current drill rod replacement operations on engineering drilling rigs generally suffer from the following technical problems: manual and semi-automatic rod replacement relies on manual handling, alignment, and thread tightening, requiring multiple people, resulting in high labor intensity, poor safety, and low efficiency. In harsh working conditions such as deep holes, high piers, and underground drilling, drill rod swaying, collisions, and falls frequently pose safety hazards, making it difficult to meet the demands of continuous and efficient construction. Existing automatic drill rod replacement devices mostly adopt a single alignment method, either relying on mechanical guidance but with limited accuracy and difficulty adapting to drill rod size errors, or relying on visual or laser detection but lacking a coarse adjustment mechanism and resulting in long adjustment times. Therefore, it is necessary to develop an automatic drill rod changing device for engineering drilling rigs that can quickly center and is highly adaptable, so as to realize automatic storage, precise transfer, rapid centering, and efficient loading and unloading of drill rods, improve the efficiency of rod changing and docking accuracy, reduce reliance on manual labor and safety risks, and meet the automated construction needs of drill rods of various scenarios and specifications. Summary of the Invention
[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an automatic rod changing device and method for drilling rigs with rapid alignment. By combining mechanical coarse alignment with laser precision calibration, the device solves the problems of low alignment accuracy and slow alignment speed between the drill rod and the power head during the automatic rod changing process.
[0004] Technical solution: To achieve the above objectives, the present invention provides a rapid centering automatic mast changing device for drilling rigs, comprising a drilling rig mast and a drilling rig power head mounted on the drilling rig mast, and further comprising:
[0005] A drill pipe bin, located adjacent to and parallel to the drilling rig mast, is used to store multiple drill pipes;
[0006] A drill pipe gripping system, which is installed on the drill pipe chamber, is used to grip drill pipes from the drill pipe chamber and transfer them to the centering station;
[0007] A mechanical centering device, which is installed on the drilling rig mast, is used to perform radial coarse centering on the drill rod held by the drill rod holding system;
[0008] A laser alignment device includes a laser transmitter and a laser receiver. The laser transmitter is mounted on the drill rod gripping system, and the laser receiver is mounted on the drill rig power head. After the mechanical alignment device completes the coaxiality, the device performs a fine check on the coaxiality between the drill rod and the spindle of the drill rig power head and outputs an alignment completion signal.
[0009] The controller is communicatively connected to the drill rod gripping system, the mechanical alignment device, and the laser alignment device, and is configured to: control the drill rod gripping system to move the drill rod to the alignment station; control the mechanical alignment device to perform radial coarse alignment of the drill rod; and, after coarse alignment is completed, confirm that the drill rod and the spindle of the drilling rig power head are aligned in place according to the alignment completion signal output by the laser alignment device.
[0010] Furthermore, the mechanical centering device includes a centering drive mechanism and a propulsion device. A pair of propulsion devices are symmetrically arranged on both sides of the drilling rig mast through corresponding centering drive mechanisms. The centering drive mechanism is used to drive the propulsion devices to move to a preset centering position. The pair of propulsion devices extend towards each other to radially push the drill rod to perform radial coarse centering of the drill rod.
[0011] Furthermore, the propulsion device includes a fixed base, a propeller embedded in the fixed base, and a propulsion block fixedly connected to the pushing end of the propeller; a pair of propulsion blocks have opposing inclined surfaces, which are used to radially push the drill rod from both sides under the drive of the propeller, so that the drill rod is guided to the symmetrical center line of the two inclined surfaces to achieve coarse alignment.
[0012] Furthermore, the drill pipe chamber includes a slide bar, a lower support, and a fence frame; at least two of the slide bars are parallel to the drill rig mast; the lower support is connected to the lower end of the slide bar; and multiple fence frames are fixedly arranged along the axial direction of the slide bar to form a rod storage area consisting of multiple fence slots.
[0013] Furthermore, the drill pipe gripping system includes:
[0014] A first mobile drive unit, which is mounted on the drill pipe chamber, is used to drive the drill pipe gripping system to move along the axial direction of the drill pipe in order to extract the drill pipe from the storage area.
[0015] The second mobile drive unit is installed on the first mobile drive unit and is used to drive the gripped drill rod to move between the drill rod chamber and the drill mast.
[0016] A third moving drive unit is mounted on the second moving drive unit and is used to drive the gripped drill rod to move along the depth direction of the rod storage area.
[0017] And a mechanical gripper for grasping the drill rod.
[0018] Furthermore, the first moving drive unit includes a first moving frame and a first moving drive component. The first moving frame is slidably mounted on the slide rod, and the first moving drive component is used to drive the first moving frame to move along the slide rod axially.
[0019] The second moving drive unit includes a guide rail frame, a second moving frame, and a second moving drive component. The guide rail frame is fixed on the first moving frame and perpendicular to the slide rod. The second moving frame is slidably mounted on the guide rail frame by the second moving drive component.
[0020] The third moving drive unit includes a guide frame, a third moving frame, and a third moving drive component. The guide frame is fixed on the second moving frame and perpendicular to the guide rail frame. The third moving frame is driven to slide and cooperate within the guide frame by the third moving drive component. The mechanical claw is mounted on the third moving frame.
[0021] Furthermore, the mechanical gripper includes a gripper frame, a fixed gripper, a movable gripper, a gripper drive component, and a rubber washer; the fixed gripper is fixedly connected to the third movable frame via the gripper frame; the movable gripper corresponds to the fixed gripper and is hinged to the gripper frame; the gripper drive component is mounted on the gripper frame, and its drive end is connected to the movable gripper, used to drive the movable gripper to rotate relative to the fixed gripper to achieve clamping or releasing; the rubber washer is disposed on the inner side of the fixed gripper and / or the movable gripper, used to form flexible contact when clamping the drill rod.
[0022] Furthermore, the laser alignment device also includes a bracket and a support rod; the bracket is fixed to the fixing claw and the drilling rig power head respectively; the support rod is disposed on the bracket, and the laser emitting end and the laser receiving end are respectively installed on the corresponding support rod.
[0023] Furthermore, the drilling rig power head includes a housing, an output connector, a cuttings discharge sleeve, a centralizer, and a release device; the output connector is located at the front end of the housing and is used to connect with the drill rod to form a driving engagement; the cuttings discharge sleeve is fitted onto the front part of the housing, and its inner wall is provided with a spiral guide groove for discharging rock cuttings generated during drilling; the centralizer is nested inside the housing and is used to radially straighten the drill rod during rod changing; the release device is located at the top of the housing and is used to clamp the drill rod during uncoupling and cooperate with the reverse rotation of the drilling rig power head to achieve thread uncoupling.
[0024] A method for changing rods in a drilling rig's automatic rod changing device with rapid alignment includes the following steps:
[0025] Step S1: Grab the drill rod
[0026] The controller moves the drill pipe gripping system to the drill pipe storage area in the drill pipe chamber and grips the target drill pipe with a mechanical claw.
[0027] Step S2: Transfer to the centering station
[0028] The controller controls the drill rod grabbing system to move the grabbed drill rod to the preset centering position on the drilling rig mast;
[0029] Step S3: Mechanical coarse centering
[0030] The controller activates the mechanical centering device, and a pair of propulsion devices extend towards each other. Through the inclined surfaces of the propulsion blocks, they radially push the drill rod from both sides, guiding the drill rod to the symmetrical center line of the two inclined surfaces, thus completing the radial coarse centering.
[0031] Step S4: Laser precision calibration
[0032] After coarse alignment is completed, the controller starts the laser alignment device. The laser transmitter sends a laser signal to the laser receiver. If the laser receiver does not receive the signal, the controller fine-tunes the drill rod gripping system and / or the mechanical alignment device until the laser receiver receives the light signal sent by the laser transmitter and outputs an alignment completion signal.
[0033] Step S5: Connect the drill pipe
[0034] Based on the alignment completion signal, the controller confirms that the drill rod and the spindle of the drill rig power head are aligned in place, and controls the output connector of the drill rig power head to connect and tighten with the drill rod;
[0035] Step S6: Reset
[0036] The controller controls the mechanical alignment device and drill pipe gripping system to return to their initial positions, completing the rod changing operation.
[0037] Beneficial Effects: This invention integrates multiple functions such as rod storage, rod delivery, clamping, coarse alignment, fine calibration, and loading / unloading, forming a complete automated rod changing operation system. The mechanical alignment device uses a pair of push blocks with relatively inclined surfaces to radially push the drill rod from both sides. The inclined surfaces guide the drill rod automatically to the symmetrical center line, achieving passive self-centering coarse alignment, eliminating most radial deviations without the need for position sensors. The laser alignment device mounts the transmitter to the mechanical gripper and the receiver to the power head, allowing the laser beam to directly characterize the spatial relationship between the drill rod and the power head spindle. Fine calibration is performed after coarse alignment, and if alignment is not achieved, the gripping system is driven to fine-tune until the signal is activated, forming a closed-loop control of detection, adjustment, and re-detection to ensure alignment accuracy. Attached Figure Description
[0038] Figure 1 This is a schematic diagram of the overall structure of the automatic rod changing device for drilling rigs according to the present invention;
[0039] Figure 2 This is a schematic diagram of the drill pipe chamber.
[0040] Figure 3 This is a schematic diagram of the drill rig's power head.
[0041] Figure 4 This is a schematic diagram of the drill pipe gripping system;
[0042] Figure 5 This is a schematic diagram of the mechanical gripper.
[0043] Figure 6 This is a schematic diagram of the mechanical alignment device;
[0044] Figure 7 This is a schematic diagram of the laser emitter structure;
[0045] Figure 8 This is a schematic diagram of the laser receiver. Detailed Implementation
[0046] The invention will now be further described with reference to the accompanying drawings.
[0047] like Figure 1 As shown, an automatic drill rod changing device for rapid alignment includes a drill mast 1 and a drill power head 2 mounted on the drill mast 1. It also includes: a drill rod magazine 3, located adjacent to and parallel to the drill mast 1, for storing multiple drill rods 4; a drill rod gripping system 5, mounted on the drill rod magazine 3, for gripping drill rods 4 from the magazine 3 and transferring them to the alignment station; and a mechanical alignment device 6, mounted on the drill mast 1, for radial coarse alignment of the drill rods 4 gripped by the drill rod gripping system 5. Figure 7 and Figure 8As shown, the laser alignment device 7 includes a laser emitter 71 and a laser receiver 72. The laser emitter 71 is mounted on the drill rod gripping system 5, and the laser receiver 72 is mounted on the drill power head 2. After the mechanical alignment device 6 completes the coaxiality alignment, it performs a fine check on the coaxiality between the drill rod 4 and the spindle of the drill power head 2 and outputs an alignment completion signal. A controller is communicatively connected to the drill rod gripping system 5, the mechanical alignment device 6, and the laser alignment device 7, and is configured to: control the drill rod gripping system 5 to move the drill rod 4 to the alignment position; control the mechanical alignment device 6 to perform radial coarse alignment of the drill rod 4; and, after coarse alignment, confirm that the drill rod 4 and the spindle of the drill power head 2 are aligned according to the alignment completion signal output by the laser alignment device 7. The drill pipe compartment 1 is positioned adjacent to and parallel to the mast, ensuring that the axis of the drill pipe stored within is spatially parallel to the main shaft of the power head, thus simplifying alignment adjustments after gripping. The drill pipe gripping system 5 is independently mounted on the drill pipe compartment 1, decoupling the storage and retrieval functions and avoiding the accumulation of positioning errors caused by a single structure undertaking multiple tasks. The mechanical alignment device 6 and the laser alignment device 7 form a two-stage alignment structure: the mechanical alignment device 6 eliminates most radial deviations through structural contact constraints, while the laser alignment device 7 achieves precise calibration through optical path detection. Furthermore, the layout of the laser transmitter mounted on the gripping system and the receiver mounted on the power head allows the laser optical path to directly characterize the spatial relative relationship between the drill pipe axis and the main shaft of the power head, offering higher accuracy and reliability compared to indirect measurement methods. The controller's three-step control logic—transfer, coarse alignment, and confirmation based on laser signals—forms a closed-loop control system with mechanical constraints first and photoelectric verification second. The coarse alignment is responsible for eliminating major deviations, while the laser verification is responsible for fine-tuning and confirmation. The two have a clear division of labor and a reasonable sequence, which together ensure alignment accuracy and efficiency.
[0048] like Figure 6As shown, the mechanical centering device 6 includes a centering drive mechanism 61 and a propulsion device 62. A pair of propulsion devices 62 are symmetrically arranged on both sides of the drilling rig mast 1 via corresponding centering drive mechanisms 61. The centering drive mechanism 61 drives the propulsion device 62 to move to a preset centering position. The pair of propulsion devices 62 extend towards each other to radially push the drill rod 4, thus performing radial coarse centering of the drill rod 4. The centering drive mechanism 61 moves the propulsion device 62 to the preset centering position, ensuring that the initial position of the propulsion device 62 matches the diameter of the drill rod 4, avoiding excessive propulsion stroke leading to impact damage or insufficient stroke leading to non-contact. The two propulsion devices 62 are symmetrically arranged on both sides of the mast via their respective centering drive mechanisms 61, ensuring that the movement trajectory of the propulsion device 62 is symmetrical about the mast axis. When the pair of propulsion devices 62 extend towards each other, the drill rod 4 is subjected to equal and opposite pushing forces in the radial direction. According to the principle of force balance, the drill rod 4 will automatically tend towards the symmetrical center line of the two propulsion devices, achieving passive self-centering. Coarse alignment can be completed without position sensors, improving the reliability and response speed of the alignment process. The alignment drive mechanism 61 preferably uses a hydraulic lifting platform.
[0049] More specifically, the propulsion device 62 includes a fixed base 621, a propeller 622 embedded in the fixed base 621, and a propulsion block 623 fixedly connected to the pushing end of the propeller 622. The pair of propulsion blocks 623 have opposing inclined surfaces 6230, which are used to radially push the drill rod 4 from both sides under the drive of the propeller 622, guiding the drill rod 4 to the symmetrical center line of the two inclined surfaces 6230 for coarse alignment. Because the pair of propulsion blocks 623 have opposing inclined surfaces 6230, when the two propellers 622 synchronously drive the propulsion blocks 623 to move towards each other, the drill rod 4 first contacts the inclined surface 6230, forming a line contact. As the propulsion blocks 623 continue to advance, the inclined surfaces 6230 gradually guide the drill rod 4 to the symmetrical center line of the two inclined surfaces. This inclined surface guiding method has more relaxed initial contact conditions and can accommodate larger deviations in the initial position of the drill rod. Meanwhile, the line contact between the inclined plane and the drill pipe results in low contact stress, preventing damage to the drill pipe surface during coarse alignment. The inclined structure of the feed block 623 eliminates the need for the initial positional accuracy of the drill pipe 4 during coarse alignment, providing strong fault tolerance and adaptability. The feeder 622 can be either an electric pusher cylinder or a hydraulic cylinder.
[0050] like Figure 2As shown, the drill pipe chamber 3 includes sliding rods 31, lower supports 32, and fence frames 33. At least two sliding rods 31 are parallel to the drilling rig mast 1, ensuring that the axis of the drill pipe stored in the drill pipe chamber 3 remains parallel to the main shaft of the power head, simplifying the centering adjustment after grabbing. The lower support 32 is connected to the lower end of the sliding rods 31, providing stable bottom support for the sliding rods 31, and fixing the drill pipe chamber 3 to the drilling rig frame or the ground. Multiple fence frames 33 are fixedly arranged along the axial direction of the sliding rods 31, forming a rod storage area 3a composed of multiple fence slots.
[0051] like Figure 2 He Ru Figure 4 As shown, the drill pipe gripping system 5 includes: a first moving drive unit 51, mounted on the drill pipe chamber 3, for driving the drill pipe gripping system 5 to move axially along the drill pipe 4 to extract the drill pipe 4 from the storage area 3a; a second moving drive unit 52, mounted on the first moving drive unit 51, for driving the gripped drill pipe 4 to move between the drill pipe chamber 3 and the drilling mast 1; a third moving drive unit 53, mounted on the second moving drive unit 52, for driving the gripped drill pipe 4 to move along the depth direction of the storage area 3a; and a mechanical gripper 54 for gripping the drill pipe 4. The first moving drive unit 51 drives the gripping system to move axially along the drill pipe 4, enabling the mechanical gripper 54 to reach any position of the drill pipe 4 in the storage area, thus achieving the selection and extraction of the target drill pipe. The second moving drive unit 52 drives the gripped drill pipe 4 to move laterally between the drill pipe chamber 1 and the mast, realizing the transfer of the drill pipe 4 from the storage area to the working area. The third moving drive unit 53 drives the drill rod 4 to move along the depth direction of the rod storage area, so that the mechanical claw 54 can extend into the fence space to grab the drill rod, and accurately send the drill rod back to the corresponding position in the bin when unloading the rod.
[0052] More specifically, the first moving drive unit 51 includes a first moving frame 511 and a first moving drive component 512. The first moving frame 511 is slidably mounted on the slide rod 31, and the first moving drive component 512 drives the first moving frame 511 to move axially along the slide rod 31. The second moving drive unit 52 includes a guide rail frame 521, a second moving frame 522, and a second moving drive component 523. The guide rail frame 521 is fixed to the first moving frame 511 and perpendicular to the slide rod 31. The second moving frame 522 is slidably mounted on the guide rail frame 521 via the second moving drive component 523. The third moving drive unit 53 includes a guide frame 531, a third moving frame 532, and a third moving drive component. The guide frame 531 is fixed to the second moving frame 522 and perpendicular to the guide rail frame 521. The third moving frame 532 is slidably mounted within the guide frame 531 via the third moving drive component. The mechanical gripper 54 is mounted on the third moving frame 532. Hydraulic cylinders are used for the first moving drive component 512, the second moving drive component 523, and the third moving drive component.
[0053] like Figure 5 As shown, the mechanical gripper 54 includes a gripper frame 541, a fixed gripper 542, a movable gripper 543, a gripper drive component 544, and a rubber washer 545. The fixed gripper 542 is fixedly connected to the third movable frame 532 via the gripper frame 541. The movable gripper 543 corresponds to the fixed gripper 542 and is hinged to the gripper frame 541. The gripper drive component 544 is mounted on the gripper frame 541, and its drive end is connected to the movable gripper 543, used to drive the movable gripper 543 to rotate relative to the fixed gripper 542 to achieve clamping or releasing. The rubber washer 545 is disposed on the inner side of the fixed gripper 542 and / or the movable gripper 543, used to form flexible contact when clamping the drill rod 4. The movable gripper 543 rotates around the hinge point under the drive of the gripper drive component 544, cooperating with the fixed gripper 542 to form a ring-shaped clamping of the drill rod 4. The rubber washer 545 is located on the inner side of the clamping surface. It undergoes elastic deformation during clamping, which increases friction to prevent the drill rod from slipping out and buffers the clamping impact to prevent the drill rod surface from being scratched by the rigid jaws.
[0054] like Figure 7 and Figure 8 As shown, the laser alignment device 7 further includes a bracket 7.1 and a support rod 7.2; the bracket 7.1 is fixed on the fixing claw 542 and the drilling rig power head 2 respectively; the support rod 7.2 is disposed on the bracket 7.1, and the laser emitting end 71 and the laser receiving end 72 are respectively installed on the corresponding support rod 7.2.
[0055] like Figure 3As shown, the drilling rig power head 2 includes a housing 21, an output connector 22, a cuttings sleeve 23, a centralizer 24, and a releaser 25. The output connector 22 is located at the front end of the housing 21 and is used to connect with the drill rod 4 to form a driving engagement. The cuttings sleeve 23 is fitted onto the front part of the housing 21, and its inner wall is provided with a spiral guide groove for discharging rock cuttings generated during drilling. The centralizer 24 is nested inside the housing 21 and is used to radially centralize the drill rod 4 during rod changing. The releaser 25 is located at the top of the housing 21 and is used to clamp the drill rod 4 during uncoupling and cooperate with the reverse rotation of the drilling rig power head 2 to achieve thread uncoupling.
[0056] A method for changing rods in a drilling rig's automatic rod changing device with rapid alignment includes the following steps:
[0057] Step S1: Grab the drill rod
[0058] The controller controls the drill pipe gripping system 5 to move to the storage area 3a of the drill pipe chamber 3, and the mechanical claw 54 grips the target drill pipe 4 to realize the automatic selection and extraction of the drill pipe.
[0059] Step S2: Transfer to the centering station
[0060] The controller controls the drill rod grabbing system 5 to move the grabbed drill rod 4 to the preset centering position on the drilling mast 1, thereby preparing for the centering process. The setting of this centering position ensures that the mechanical centering device 6 starts pushing from the same position every time it operates, simplifying the control logic.
[0061] Step S3: Mechanical coarse centering
[0062] The controller activates the mechanical alignment device 6, causing a pair of propulsion devices 62 to extend towards each other. These devices radially push the drill rod 4 from both sides via the inclined surfaces 6230 of the propulsion blocks 623, guiding the drill rod 4 to the symmetrical center line of the two inclined surfaces 6230, thus completing the radial coarse alignment. Utilizing the inclined surface guiding principle eliminates most of the radial deviation; this step does not rely on sensor detection and has a fast response speed.
[0063] Step S4: Laser precision calibration
[0064] After coarse alignment, the controller activates the laser alignment device 7. The laser transmitter 71 emits a laser signal to the laser receiver 72. If the laser receiver 72 does not receive a signal, the controller fine-tunes the drill rod gripping system 5 and / or the mechanical alignment device 6 until the laser receiver 72 receives the optical signal sent by the laser transmitter 71 and outputs an alignment completion signal. This step uses the laser alignment device 7 for fine calibration and fine-tuning when a signal is not received, forming a closed-loop control of detection, adjustment, and re-detection until alignment is complete, ensuring that the alignment accuracy meets the requirements.
[0065] Step S5: Connect the drill pipe
[0066] Based on the alignment completion signal, the controller confirms that the drill rod 4 and the spindle of the drilling rig power head 2 are aligned in place, and then controls the output connector 22 of the drilling rig power head 2 to connect and tighten with the drill rod 4. The connection accuracy is ensured by both coarse alignment and fine calibration, preventing thread mis-threading.
[0067] Step S6: Reset
[0068] The controller controls the mechanical alignment device 6 and the drill rod gripping system 5 to return to their initial positions, completing the rod changing operation.
[0069] In summary, this invention integrates multiple functions such as rod storage, rod delivery, clamping, coarse alignment, fine calibration, and loading / unloading, forming a complete automated rod changing operation system. The mechanical alignment device uses a pair of push blocks with opposing inclined surfaces to radially push the drill rod from both sides. The inclined surfaces guide the drill rod automatically to the symmetrical center line, achieving passive self-centering coarse alignment, eliminating most radial deviations without the need for position sensors. The laser alignment device mounts the transmitter to the mechanical gripper and the receiver to the power head, allowing the laser beam to directly characterize the spatial relationship between the drill rod and the power head spindle. Fine calibration is performed after coarse alignment, and if alignment is not achieved, the gripping system is driven to fine-tune until the signal is activated, forming a closed-loop control of detection, adjustment, and re-detection to ensure alignment accuracy.
[0070] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A drilling rig automatic mast changer for rapid alignment, comprising a drilling rig mast (1) and a drilling rig power head (2) mounted on the drilling rig mast (1), characterized in that: Also includes: A drill pipe compartment (3), which is located adjacent to and parallel to the drill mast (1), is used to store multiple drill pipes (4). A drill pipe gripping system (5) is installed on the drill pipe chamber (3) for gripping drill pipes (4) from the drill pipe chamber (3) and transferring them to the centering station; Mechanical centering device (6), which is installed on the drilling rig mast (1), is used to perform radial coarse centering on the drill rod (4) held by the drill rod gripping system (5); The laser alignment device (7) includes a laser transmitter (71) and a laser receiver (72). The laser transmitter (71) is mounted on the drill rod gripping system (5), and the laser receiver (72) is mounted on the drill power head (2). After the mechanical alignment device (6) completes the rough alignment, it performs a fine check on the coaxiality of the drill rod (4) and the spindle of the drill power head (2) and outputs an alignment completion signal. The controller is communicatively connected to the drill rod gripping system (5), the mechanical alignment device (6), and the laser alignment device (7), and is configured to: control the drill rod gripping system (5) to move the drill rod (4) to the alignment station; control the mechanical alignment device (6) to perform radial coarse alignment of the drill rod (4); and, after the coarse alignment is completed, confirm that the drill rod (4) and the spindle of the drilling rig power head (2) are aligned in place according to the alignment completion signal output by the laser alignment device (7).
2. The automatic rod changing device for a drilling rig with rapid alignment according to claim 1, characterized in that: The mechanical centering device (6) includes a centering drive mechanism (61) and a propulsion device (62). A pair of propulsion devices (62) are symmetrically arranged on both sides of the drilling mast (1) through corresponding centering drive mechanisms (61). The centering drive mechanism (61) is used to drive the propulsion device (62) to move to a preset centering position. The pair of propulsion devices (62) extend towards each other to radially push the drill rod (4) to perform radial coarse centering of the drill rod (4).
3. The automatic rod changing device for a drilling rig with rapid alignment according to claim 2, characterized in that: The propulsion device (62) includes a fixed base (621), a propeller (622) embedded in the fixed base (621), and a propulsion block (623) fixedly connected to the pushing end of the propeller (622). The pair of propulsion blocks (623) have opposing ramps (6230) for radially pushing the drill rod (4) from both sides under the drive of the propeller (622), so that the drill rod (4) is guided to the center line of symmetry of the two ramps (6230) to achieve coarse centering.
4. The automatic rod changing device for a drilling rig with rapid alignment according to claim 1, characterized in that: The drill pipe chamber (3) includes a slide rod (31), a lower support (32), and a fence frame (33); at least two of the slide rods (31) are parallel to the drill mast (1); the lower support (32) is connected to the lower end of the slide rod (31); a plurality of fence frames (33) are fixedly arranged along the axial direction of the slide rod (31) to form a rod storage area (3a) consisting of a plurality of fence spaces.
5. The automatic rod changing device for a drilling rig with rapid alignment according to claim 4, characterized in that: The drill pipe gripping system (5) includes: The first moving drive unit (51), which is installed on the drill pipe chamber (3), is used to drive the drill pipe gripping system (5) to move along the axial direction of the drill pipe (4) to extract the drill pipe (4) from the storage area (3a). The second mobile drive unit (52) is installed on the first mobile drive unit (51) and is used to drive the gripped drill rod (4) to move between the drill rod chamber (3) and the drill mast (1); The third moving drive unit (53) is mounted on the second moving drive unit (52) and is used to drive the gripped drill rod (4) to move along the depth direction of the rod storage area (3a); And a mechanical claw (54) for gripping the drill rod (4).
6. The automatic rod changing device for a drilling rig with rapid alignment according to claim 5, characterized in that: The first moving drive unit (51) includes a first moving frame (511) and a first moving drive member (512). The first moving frame (511) is slidably mounted on the slide rod (31), and the first moving drive member (512) is used to drive the first moving frame (511) to move axially along the slide rod (31). The second moving drive unit (52) includes a guide rail frame (521), a second moving frame (522), and a second moving drive component (523). The guide rail frame (521) is fixed on the first moving frame (511) and perpendicular to the slide rod (31). The second moving frame (522) is driven to slide and cooperate with the guide rail frame (521) by the second moving drive component (523). The third moving drive unit (53) includes a guide frame (531), a third moving frame (532) and a third moving drive component. The guide frame (531) is fixed on the second moving frame (522) and perpendicular to the guide rail frame (521). The third moving frame (532) is driven to slide and cooperate with the guide frame (531) through the third moving drive component. The mechanical claw (54) is installed on the third moving frame (532).
7. The automatic rod changing device for a drilling rig with rapid alignment according to claim 6, characterized in that: The mechanical gripper (54) includes a gripper frame (541), a fixed gripper (542), a movable gripper (543), a gripper drive (544), and a rubber washer (545). The fixed gripper (542) is fixedly connected to the third movable frame (532) via the gripper frame (541). The movable gripper (543) corresponds to the fixed gripper (542) and is hinged to the gripper frame (541). The gripper drive (544) is mounted on the gripper frame (541), and its drive end is connected to the movable gripper (543) to drive the movable gripper (543) to rotate relative to the fixed gripper (542) to achieve clamping or loosening. The rubber washer (545) is disposed on the inner side of the fixed gripper (542) and / or the movable gripper (543) to form flexible contact when clamping the drill rod (4).
8. The automatic rod changing device for a drilling rig with rapid alignment according to claim 7, characterized in that: The laser alignment device (7) further includes a bracket (7.1) and a support rod (7.2); the bracket (7.1) is fixed on the fixing claw (542) and the drilling rig power head (2) respectively; the support rod (7.2) is set on the bracket (7.1), and the laser emitting end (71) and the laser receiving end (72) are respectively installed on the corresponding support rod (7.2).
9. The automatic rod changing device for a drilling rig with rapid centering according to claim 1, characterized in that: The drilling rig power head (2) includes a housing (21), an output connector (22), a cuttings sleeve (23), a centralizer (24), and a releaser (25). The output connector (22) is located at the front end of the housing (21) and is used to connect with the drill rod (4) to form a driving engagement. The cuttings sleeve (23) is fitted onto the front of the housing (21) and has a spiral guide groove on its inner wall for discharging rock cuttings generated during drilling. The centralizer (24) is nested inside the housing (21) and is used to radially straighten the drill rod (4) during rod changing. The releaser (25) is located at the top of the housing (21) and is used to clamp the drill rod (4) during uncoupling and cooperate with the reverse rotation of the drilling rig power head (2) to achieve thread uncoupling.
10. The rod changing method of the automatic rod changing device for rapid alignment drilling rigs according to claim 1, characterized in that: Includes the following steps: Step S1: Grab the drill rod The controller controls the drill pipe gripping system (5) to move to the storage area (3a) of the drill pipe chamber (3) and grips the target drill pipe (4) with the mechanical claw (54). Step S2: Transfer to the centering station The controller controls the drill rod grabbing system (5) to move the grabbed drill rod (4) to the preset centering position on the drilling rig mast (1); Step S3: Mechanical coarse centering The controller controls the mechanical centering device (6) to start, and a pair of propulsion devices (62) extend towards each other. Through the inclined surface (6230) of the propulsion block (623), the drill rod (4) is radially pushed from both sides, and the drill rod (4) is guided to the symmetrical center line of the two inclined surfaces (6230) to complete the radial coarse centering; Step S4: Laser precision calibration After the coarse alignment is completed, the controller starts the laser alignment device (7), the laser transmitter (71) sends a laser signal to the laser receiver (72), and if the laser receiver (72) does not receive the signal, the controller fine-tunes the drill rod gripping system (5) and / or the mechanical alignment device (6) until the laser receiver (72) receives the light signal sent by the laser transmitter (71) and outputs the alignment completion signal; Step S5: Connect the drill pipe Based on the alignment completion signal, the controller confirms that the drill rod (4) and the spindle of the drilling rig power head (2) are aligned in place, and controls the output connector (22) of the drilling rig power head (2) to connect and tighten with the drill rod (4); Step S6: Reset The controller controls the mechanical centering device (6) and the drill rod gripping system (5) to return to their initial positions, completing the rod changing operation.