Short-distance drill rod loading and unloading system

Abstract

The utility model relates to the technical field of drill rod loading and unloading, and discloses a short-distance drill rod loading and unloading system which comprises a rotary speed reducer, a rotary arm, a turnover device, a clamping device and a drill rod box, the swing mechanism is used for swinging the clamping device into or out of the clamping device in the state of being parallel to or approximately parallel to the rack, the conveying device is used for transferring the drill rod, the conveying device is arranged at the upper end of the drill rod box, and the swing mechanism is arranged between the turnover device and the clamping device. The rack is provided with a first proximity switch, a second proximity switch and a third proximity switch, the turnover device is provided with a signaling block, and the rotary arm is provided with a receiver capable of identifying the signaling block; the conveying device is arranged at the upper end of the drill rod box, the width of the drilling machine is reduced, the clamping device swings into the clamping device in cooperation with the swinging device, and therefore the length of the rack is reduced, and the drilling machine can work in the narrow roadway environment of an underground coal mine.

Description

TECHNICAL FIELD

[0001] The utility model relates to a short distance drill rod loading and unloading system. BACKGROUND

[0002] The drill rod conveying device is an auxiliary device for a coal mine drilling machine, which functions to convey the drill rod required for drilling to the drilling machine or to retrieve the drill rod withdrawn from the construction hole, wherein the drill rod is stored in a drill rod box on a vehicle frame, and the drill rod loading and unloading manipulator is a device that replaces manual loading and unloading of the drill rod for the drilling machine in the coal mine, which can take out the drill rod in the drill rod box and place it on a transfer groove connected to the drill rod box, and then place the drill rod in the clamping device of the drilling machine through the drill rod loading and unloading manipulator connected to the drilling machine, and the device can realize the loading and unloading of the drill rod at different drilling angles through the multi-joint movement assembly.

[0003] The prior art discloses a positioning device and method for a drill rod loading and unloading manipulator (publication number: CN111042752A), which is used for loading and unloading the drill rod in the drill rod clamping device on the rack, the rack is fixedly connected to the rack rotator, the manipulator includes a rotary arm and a manipulator rotator arranged at the end thereof, the manipulator rotator and the rack rotator are arranged on the two sides of the mounting rack respectively, the positioning device includes a controller and a sensor module connected thereto; the sensor module includes a synchronous positioning sensor assembly and a horizontal positioning sensor assembly arranged at the end of the manipulator, and an end positioning sensor assembly arranged on the rack; the synchronous positioning sensor assembly is used for determining that the rotary arm of the manipulator is parallel to the axis of the drill rod clamping device on the rack; the horizontal positioning sensor assembly is used for determining that the included angle between the rotary arm of the manipulator and the horizontal plane is zero; and the end positioning sensor assembly is used for detecting the mounting position of the drill rod to be clamped. The present application solves the problem of the complex positioning system in the prior art by arranging the synchronous positioning sensor assembly and the horizontal positioning sensor assembly at the end of the manipulator and arranging the end positioning sensor assembly on the rack for detecting the mounting position of the drill rod to be clamped.

[0004] However, in the prior art (publication number: CN111042752A), the drill rod is first clamped by the clamping device, then rotated by the rotary arm until it is parallel to the rack, and then placed in the drill rod clamping device of the drilling machine by the rotary arm after the drill rod clamped by the clamping device is located above the rear side of the rack through the overturning device. Since the drill rod is rotated under the action of the rotary arm at the end, the drill rod moves in an arc along the axis of the rack before being placed, which increases the distance of the rack in the axis direction, and in order to meet the requirement of drill rod butt joint, the length of the rack must be extended. However, the longer rack is not suitable for working in the narrow environment of the coal mine, and therefore, the present application provides a short distance drill rod loading and unloading system to solve the above problems. Utility Model Content

[0005] The present invention aims to provide a short-distance drill pipe loading and unloading system to solve the problem that existing drilling rig delivery systems are not suitable for working in narrow tunnels.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a short-distance drill pipe loading and unloading system, comprising a rotary reducer, a rotary arm, a tilting device, and a clamping device connected sequentially to the side wall of the frame, and a drill pipe box mounted on the rotator of the frame for loading drill pipes, further comprising a swing mechanism for swinging the clamping device into or out of the clamping device in a state parallel or nearly parallel to the frame, and a transport device for transferring drill pipes, the transport device being located at the upper end of the drill pipe box, the swing mechanism being located between the tilting device and the clamping device, the side wall of the frame being provided with a first proximity switch for determining that the clamping device is parallel to the frame, a second proximity switch for determining that the tilting device is parallel to the transfer groove, and a third proximity switch for determining the rotation angle of the rotary arm, the outer wall of the tilting device being provided with a signal transmitting block, and the outer wall of the rotary arm being provided with a receiver capable of identifying the signal transmitting block.

[0007] The beneficial effects of this solution are as follows: by setting the transport device at the top of the drill rod box, the overall width of the drilling rig is reduced. After the rotary reducer drives the tilting device to increase its tilt angle through the rotary arm, the tilting device drives the clamping device to tilt. Then, the swing mechanism drives the drill rod to be clamped to be swung into the clamp in a state parallel or nearly parallel to the frame. After the swing mechanism drives the clamped drill rod to be swung out of the clamp in a state parallel to the frame, the tilting device and the rotary reducer work together to drive the clamping device to reset and continue to repeat this process to load and unload the drill rod.

[0008] Compared with existing robotic arms for loading and unloading drill rods, this solution changes the method of placing the drill rod to be clamped in position and then aligning it parallel to the frame. By setting up a swing mechanism, the drill rod to be clamped, which is pre-aligned parallel or nearly parallel to the frame, is swung into the holder. During the process of the drill rod entering the holder, the trajectory of its tail is no longer an arc. The drill rod to be clamped can be placed in position with a very small distance from the drill bit in the axial direction of the frame. This solves the problem of interference between the tail of the drill rod and the drill bit during the process of placing the drill rod to be clamped into the holder in the existing technology, and further solves the problem of a large distance between the drill bit and the tail of the drill rod after it is placed in position.

[0009] Compared to existing technologies, this solution reduces the distance between the drill bit and the tail of the drill rod to be clamped by 80mm after the drill rod is placed in place. This 80mm reduction shortens the drill bit's advance stroke, reduces design complexity, and also reduces the length of the frame by 80mm in the axial direction, i.e., reduces the width of the drilling rig by 80mm. This makes the drilling rig structure more compact and better suited to the working environment of narrow underground coal mine tunnels. At the same time, the frame is less restricted when adjusting the tilt angle.

[0010] Preferably, as an improvement, the second proximity switch is arranged on the rack near one end of the rotary arm, and the outer wall of the rotary arm is provided with a first arc-shaped block, and the second proximity switch can identify the first arc-shaped block.

[0011] The beneficial effect is that when the first arc-shaped block moves to the front end of the second proximity switch with the rotation of the rotary arm, the second proximity switch identifies the first arc-shaped block and stops the rotation of the rotary arm, at this time the turnover device is parallel to the transfer groove, that is, the rotary arm is perpendicular to the transfer groove, at this time the turnover device drives the clamping device to turn over above the transfer groove, and then the clamping device grabs the drill pipe in the transfer groove, thereby completing the grabbing of the drill pipe.

[0012] Preferably, as an improvement, the third proximity switch is arranged on the rotary reducer near one end of the rotary arm, and the inner wall of the rotary arm is provided with a second arc-shaped block, and the third proximity switch can identify the second arc-shaped block.

[0013] The beneficial effect is that by arranging the second arc-shaped block on the inner wall of the rotary arm, when the rotary arm rotates under the action of the rotary reducer, the second arc-shaped block also rotates with the rotary arm, when the second arc-shaped block rotates to the front end of the third proximity switch, the third proximity switch identifies the second arc-shaped block to detect the rotation angle of the rotary arm, thereby preventing the turnover device driven by the rotary arm from interfering with other parts, although the rotary reducer can directly drive the turnover device to increase the inclination angle to parallel the rack to the drill pipe to be clamped, but there is uncertainty, the rotary reducer can also ensure that the drill pipe to be clamped is parallel to the rack by increasing and then reducing the inclination angle of the turnover device, specifically, since the distance between the third proximity switch for detecting the inclination angle and the rotation axis of the second arc-shaped block on the inner wall of the rotary reducer is less than the distance between the first proximity switch for detecting the parallelism of the drill pipe to be clamped and the rotation axis of the rotary reducer, that is, the former rotation radius is less than the latter rotation radius, under the same rotation arc length error, the angle error corresponding to the smaller rotation radius is larger, so only relying on the third proximity switch for detecting the inclination angle, the turnover device may not be parallel to the rack but inclined within the rotation error arc length range, affecting the subsequent hooking action of the drill pipe, therefore, the rotary reducer can ensure that the drill pipe to be clamped is parallel to the rack by increasing and then reducing the inclination angle of the turnover device.

[0014] Preferably, as an improvement, the turnover device comprises a hydraulic motor and a main shaft, the hydraulic motor is arranged at one end of the rotary arm, the main shaft is rotatably arranged in the rotary arm, and the output shaft of the hydraulic motor is connected to one end of the main shaft, and the other end of the main shaft away from the hydraulic motor is connected to the clamping device.

[0015] The beneficial effect is that the hydraulic motor drives the main shaft to rotate, thereby driving the clamping device connected to the main shaft to rotate, and then turning over the clamping device from one side of the drill pipe box to one side of the drilling machine.

[0016] Preferably, as an improvement, the output shaft of the hydraulic motor rotates in the range of 0-240°.

[0017] The beneficial effect is that by limiting the rotation range of the output shaft of the hydraulic motor, the wear or damage of the internal parts of the hydraulic motor caused by excessive rotation can be avoided.

[0018] Preferably, as an improvement, the swing mechanism comprises a mounting seat and a swing cylinder, the mounting seat is arranged at the end of the main shaft away from the hydraulic motor, the clamping device is arranged on the inner wall of the mounting seat, and the swing cylinder is arranged on the inner wall of the mounting seat and connected with the output end of the clamping device.

[0019] The beneficial effect is that the mounting seat is used to connect the main shaft and the clamping device, the rotation of the main shaft drives the mounting seat to rotate, thereby driving the clamping device to rotate, when the clamping device rotates to be parallel to the rack, the clamping device is swung downward by the swing cylinder, thereby placing the drill pipe in the clamp, reducing the movement range of the drill pipe along the axial direction of the rack when being connected, and shortening the axial distance of the rack.

[0020] Preferably, as an improvement, the mounting seat is arranged in the shape of a U, and the mounting seat can be in contact with the first proximity switch.

[0021] The beneficial effect is that by arranging the mounting seat in the shape of a U, the mounting seat is wrapped around the outer wall of the clamping device, the contact area with the clamping device is increased, the firmness of the mounting seat and the clamping device is improved, and the contact area of the mounting seat and the first proximity switch is also increased.

[0022] Preferably, as an improvement, the telescopic cylinder is further arranged in the mounting seat, the clamping device is arranged at the output end of the telescopic cylinder, and the output end of the swing cylinder is connected with the outer wall of the telescopic cylinder.

[0023] The beneficial effect is that by arranging the telescopic cylinder in the mounting seat, the length of the clamping device is shortened, the telescopic cylinder is driven to approach or leave the transfer groove and the drilling machine, and the telescopic cylinder is swung by the swing cylinder, so that the clamping device approaches the clamp of the drilling machine in a posture parallel to the rack.

[0024] Preferably, as an improvement, the outer wall of the clamping device is provided with a positioning assembly for judging the extension distance of the clamping device, the positioning assembly comprises a protective cover, a signal rod, a supporting block, a connecting frame and a first sensor, the protective cover is arranged on the outer wall of the telescopic cylinder, the supporting block is arranged on the inner wall of the protective cover, the signal rod is slidingly arranged in the supporting block, the outer wall of both ends of the signal rod is symmetrically provided with notches, the connecting frame is arranged at one end of the signal rod extending out of the protective cover, the connecting frame is connected with the outer wall of the clamping device, and the first sensor is arranged on the outer wall of the supporting block. The first sensor can identify the position of each notch in the protective cover.

[0025] The beneficial effect is that: because the telescopic oil cylinder has inertia when extending or retracting, the pressure of the hydraulic oil exceeds the judgment pressure, so that the telescopic oil cylinder cannot extend or retract to the position, and then when the next action is performed, the clamping device interferes with other parts, therefore, the positioning assembly is arranged on the outer wall of the telescopic oil cylinder, so as to judge whether the telescopic oil cylinder extends or retracts to the position, the notch is arranged at both ends of the signal rod, and then the first sensor is used for identification, when the fixed claw moves the signal rod through the connecting frame, the notch of the signal rod also moves, when the first sensor identifies the notch of the signal rod, it is judged that the telescopic oil cylinder extends or retracts to the position, and the interference phenomenon is avoided when the next action is performed.

[0026] Preferably, as an improvement, the conveying device comprises a grabbing mechanism for clamping the drill rod and a displacement mechanism capable of moving the grabbing mechanism, the displacement mechanism comprises a guide rail, a sliding block and a driving motor, the guide rail is arranged on the upper end of the drill rod box, the sliding block is arranged on the upper end of the guide rail, the inner wall of one side of the guide rail is provided with a rack, the driving motor is arranged on the end of the sliding block away from the guide rail, the output end of the driving motor is provided with a gear which penetrates through one end of the sliding block, and the gear is engaged with the rack, and the grabbing mechanism is arranged on the outer wall of the sliding block.

[0027] The beneficial effect is that: the driving motor provides power for the conveying device, and then the gear is engaged with the rack to drive the sliding block to move on the outer wall of the guide rail, so as to drive the grabbing mechanism to move on the upper end of the drill rod box, and then the grabbing mechanism takes out the drill rod from the drill rod box.

[0028] Preferably, as an improvement, the end of the guide rail away from the grabbing mechanism is provided with a displacement sensing assembly, the displacement sensing assembly comprises a first position sensor, a protection cylinder and a moving block, the protection cylinder is arranged on the end of the guide rail away from the clamping structure, the first position sensor is arranged on one end of the protection cylinder, and the moving block is arranged on the end of the sliding block away from the grabbing mechanism and can move in the protection cylinder, and the first position sensor can sense the position of the moving block on the outer wall of the protection cylinder.

[0029] The beneficial effect is that: the sliding block drives the moving block to move in the protection cylinder, and then the first position sensor identifies the position of the moving block on the upper end of the drill rod box, so as to cooperate with the grabbing mechanism to accurately grab the drill rod in the drill rod box, and the protection cylinder is used for protecting the moving block and the first position sensor, so as to prevent the cooperation of the moving block and the first position sensor from being interfered by the external environment.

[0030] Preferably, as an improvement, the grabbing mechanism comprises a telescopic part, a second fixed claw, a second movable claw and a second clamping oil cylinder, the telescopic part is provided as a primary oil cylinder, the primary oil cylinder is arranged on the outer wall of the sliding block, the second fixed claw is arranged on the output end of the primary oil cylinder, the second movable claw is arranged on one end of the second fixed claw, the second clamping oil cylinder is arranged in the second fixed claw, and the output end of the second clamping oil cylinder is connected with the second movable claw.

[0031] The beneficial effect is that the first oil cylinder is used to extend the second fixed jaw and the second movable jaw into the drill pipe box, thereby shortening the length of the grabbing mechanism, facilitating the transportation of the drilling machine, and driving the second movable jaw to the second fixed jaw by the second clamping oil cylinder, thereby completing the clamping of the drill pipe.

[0032] Preferably, as an improvement, the telescopic part is provided with a second oil cylinder, the second oil cylinder comprising a first sleeve, a second sleeve, a third sleeve, a first oil cylinder and a second oil cylinder, and the openings of the first sleeve and the second sleeve are both towards the drill pipe box, the opening of the third sleeve is towards the end away from the drill pipe box, the first sleeve is arranged on the outer wall of the sliding block, the second sleeve is arranged in the first sleeve, the third sleeve is arranged in the second sleeve, the first oil cylinder is arranged on the outer wall of the first sleeve, and the output end of the first oil cylinder is connected with the outer wall of the second sleeve, the second oil cylinder is arranged in the third sleeve, and the output end of the second oil cylinder is connected with the inner wall of the second sleeve, and the second fixed jaw is arranged at the end of the third sleeve away from the opening.

[0033] The beneficial effect is that the length of the grabbing mechanism is further shortened by setting the second oil cylinder, facilitating the transportation of the drilling machine.

[0034] Preferably, as an improvement, the inner wall of the end of the first sleeve away from the opening is provided with a second position sensor, which can identify the position of the third sleeve in the first sleeve.

[0035] The beneficial effect is that the distance of the grabbing mechanism is determined by identifying the position of the third sleeve in the first sleeve through the second position sensor, so that the drill pipe in the drill pipe box can be grabbed more accurately.

[0036] Preferably, as an improvement, a rotating part is arranged between the telescopic part and the sliding block, the rotating part comprising a mounting plate, a rotating shaft and a limiting plate, the mounting plate is arranged on the outer wall of the telescopic part, the rotating shaft is arranged at the end of the mounting plate close to the sliding block, and the rotating shaft rotates and penetrates out of the sliding block, and the limiting plate is arranged at the end of the rotating shaft penetrating out of the sliding block.

[0037] The beneficial effect is that the transportation device can be rotated by setting the rotating part, so that the transportation device can be laid down when the drilling machine is transported, thereby reducing the height of the drilling machine during transportation and increasing the portability of the drilling machine during transportation, and the limiting plate is used to prevent the transportation device from separating from the sliding block when it is turned over, which may cause the transportation device to be damaged.

[0038] Preferably, as an improvement, the outer wall of the second fixed jaw is provided with a second sensor capable of identifying the distance of the drill pipe.

[0039] The beneficial effect is that the distance between the drill pipe in the drill pipe box and the grabbing mechanism is identified by the second sensor, so that the drill pipe can be grabbed more accurately.

[0040] Preferably, as an improvement, the inclination angle close to parallel is 0-1°.

[0041] Preferably, as an improvement, the movable opening of the clamping device is directed towards the end away from the mounting base. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a three-dimensional schematic view of the drilling rig of the embodiment of the present application;

[0043] Figure 2 It is a three-dimensional schematic view of the turnover device and the clamping device of the embodiment of the present application;

[0044] Figure 3 It is a sectional view of the rotary arm of the embodiment of the present application;

[0045] Figure 4 It is a schematic view of the structure of the mounting base contacting the first proximity switch of the embodiment of the present application;

[0046] Figure 5 It is an exploded structural schematic view of the positioning assembly of the embodiment of the present application;

[0047] Figure 6 It is a structural schematic view of the second proximity switch and the third proximity switch of the embodiment of the present application;

[0048] Figure 7 It is a structural schematic view of the drilling rod box and the conveying device of the embodiment of the present application;

[0049] Figure 8 It is a sectional view of the displacement sensing assembly of the embodiment of the present application;

[0050] Figure 9 It is a structural schematic view of the grabbing mechanism of the embodiment of the present application;

[0051] Figure 10 It is a sectional view of the grabbing mechanism of the embodiment of the present application. DETAILED DESCRIPTION

[0052] The following is further described in detail through specific embodiments:

[0053] The reference numerals in the accompanying drawings include: 1. Rotary reducer; 2. Rotary arm; 3. Drill rod box; 4. Hydraulic motor; 5. Spindle; 6. Positioning sleeve; 7. Slot; 8. Limit block; 9. First fixed claw; 10. First movable claw; 11. First clamping cylinder; 12. Telescopic cylinder; 13. Protective cover; 14. Signal rod; 15. Support block; 16. Connecting frame; 17. First sensor; 18. Notch; 19. Mounting base; 20. Swing cylinder; 21. First proximity switch; 22. Second proximity switch; 23. Third proximity switch. 25. First arc block 26. Second arc block 27. Signal transmitting block 28. Receiver 29. Guide rail 29. Slider 30. Drive motor 31. First position sensor 32. Protective cylinder 33. Moving block 34. Second fixed claw 35. Second movable claw 36. Second clamping cylinder 37. First sleeve 38. Second sleeve 39. Third sleeve 40. First cylinder 41. Second cylinder 42. Second position sensor 43. Mounting plate 44. Rotating shaft 45. Second sensor 46. Transfer groove 47.

[0054] Example

[0055] The basic implementation examples are as follows: Figures 1-10 As shown, Figure 1 The illustrated short-distance drill pipe loading and unloading system includes a rotary reducer 1, a rotary arm 2, a tilting device, and a clamping device sequentially connected to the side wall of the frame. The lower end of the rotary arm 2 is fixedly connected to the rotary reducer 1 by bolts. The frame is fixedly installed on the upper end of the frame rotary reducer, and a drill pipe box 3 is installed on the upper end of the frame rotary reducer for loading drill pipes. A transfer trough 47 is fixedly installed on the side of the drill pipe box 3 near the drilling rig, and the transfer trough 47 can move along the axis of the frame. Figure 2 The tilting device shown includes a hydraulic motor 4 and a main shaft 5. The hydraulic motor 4 is fixedly mounted on the right end of the rotary arm 2. The main shaft 5 is rotatably mounted through the upper end of the rotary arm 2, and the output shaft of the hydraulic motor 4 is fixedly connected to the main shaft 5. The output shaft of the hydraulic motor 4 rotates within the range of 0-240°. A signal transmitter 27 is fixedly mounted on the outer wall of the main shaft 5, and a receiver 28 capable of identifying the signal transmitter 27 is fixedly mounted on the lower end of the outer wall of the rotary arm 2. Figure 3A positioning sleeve 6 is fixedly installed inside the rotary arm 2 shown. The main shaft 5 is rotatably installed inside the positioning sleeve 6. A groove 7 is formed on the inner wall of the positioning sleeve 6. A limit block 8 is fixedly installed on the outer wall of the main shaft 5. The limit block 8 is located in the groove 7. Through the mutual cooperation between the limit block 8 and the groove 7, the rotation angle of the main shaft 5 is limited. A swing mechanism is fixedly installed at the front end of the main shaft 5. The swing mechanism includes a mounting base 19 and a swing cylinder 20. The mounting base 19 is fixedly installed at the front end of the main shaft 5. The mounting base 19 is U-shaped. A telescopic cylinder 12 is rotatably installed inside the mounting base 19. The hydraulic cylinder 20 is fixedly installed in the mounting base 19, and the output end of the swing hydraulic cylinder 20 is fixedly connected to the lower right side of the telescopic hydraulic cylinder 12. A clamping device is fixedly installed on the left end of the telescopic hydraulic cylinder 12. The clamping device includes a first fixed claw 9, a first movable claw 10 and a first clamping hydraulic cylinder 11. The first fixed claw 9 is fixedly installed on the output end of the telescopic hydraulic cylinder 12. The first movable claw 10 rotates on the left end of the first fixed claw 9. The first clamping hydraulic cylinder 11 is fixedly installed on the upper outer wall of the first fixed claw 9, and the output end of the first clamping hydraulic cylinder 11 is fixedly connected to the first movable claw 10.

[0056] like Figure 4 As shown, a first proximity switch 21 for determining whether the clamping device is parallel to the frame is fixedly installed on the outer wall of the frame. The mounting base 19 can contact the first proximity switch 21, such as... Figure 4 The telescopic cylinder 12 shown is equipped with a positioning assembly at its upper end. The positioning assembly includes a protective cover 13, a signal rod 14, a support block 15, a connecting frame 16, and a first sensor 17. The protective cover 13 is fixedly installed on the outer wall of the upper end of the telescopic cylinder 12. Figure 5 The support block 15 shown is fixedly installed on the inner wall of the rear end of the protective cover 13. The signal rod 14 is slidably installed inside the support block 15. Notches 18 are opened on the outer walls of both ends of the signal rod 14. The connecting frame 16 is hingedly installed on the end of the signal rod 14 that extends out of the protective cover 13. The connecting frame 16 is fixedly connected to the outer wall of the first fixing claw 9. The connecting frame 16 is set in a U-shape to increase the contact surface between the connecting frame 16 and the first fixing claw 9 and improve the stability of the connecting frame 16 and the first fixing claw 9. The first sensor 17 is fixedly installed on the outer wall of the support block 15. The first sensor 17 can identify the position of each notch 18 inside the support block 15.

[0057] like Figure 6As shown, the outer wall of the frame close to the drill pipe box 3 is fixedly installed with a second proximity switch 22 for judging whether the turnover device is parallel to the transfer groove 47 and a third proximity switch 23 for judging the rotation angle of the rotary arm 2, and the second proximity switch 22 is located at the right side of the rotary arm 2 and the third proximity switch 23 is located at the rotation center of the rotary reducer 1. The outer wall of the rotary arm 2 is fixedly installed with a first arc block 25, and the signal changes when the first arc block 25 rotates to the front end of the second proximity switch 22. The inner wall of the rotary arm 2 is fixedly installed with a second arc block 26, and the angle between the second arc block 26 and the transfer groove 47 is 8° larger than the angle between the frame and the transfer groove 47. At the same time, the inclination angle of the second arc block 26 changes with the inclination angle of the frame, and the signal changes when the second arc block 26 rotates to the front end of the third proximity switch 23.

[0058] As shown in Figure 7 , the transport device includes a grabbing mechanism for clamping the drill pipe and a displacement mechanism capable of moving the grabbing mechanism. The displacement mechanism includes a guide rail 29, a sliding block 30, and a drive motor 31. The guide rail 29 is fixedly installed on the upper end of the drill pipe box 3. The sliding block 30 is slidingly installed on the upper end of the guide rail 29. A rack is fixedly installed on the inner wall of one side of the guide rail 29. The drive motor 31 is fixedly installed on the upper end of the sliding block 30. A gear is fixedly installed on one end of the output end of the drive motor 31 penetrating the sliding block 30, and the gear is engaged with the rack. The grabbing mechanism is fixedly installed on the front end of the sliding block 30. Figure 8 As shown in , the right end of the guide rail 29 is provided with a displacement sensing assembly. The displacement sensing assembly includes a first position sensor 32, a protective cylinder 33, and a moving block 34. The protective cylinder 33 is fixedly installed on the right end of the guide rail 29, and the length of the protective cylinder 33 is equal to the length of the guide rail 29. The first position sensor 32 is fixedly installed on the rear end of the protective cylinder 33. The moving block 34 is fixed to the right end of the sliding block 30. A moving groove is formed in the lower end of the protective cylinder 33, and one end of the moving block 34 extends into the protective cylinder 33 through the moving groove. The first position sensor 32 can identify the position of the moving block 34 in the protective cylinder 33, so that the position of the moving block 34 in the protective cylinder 33 is equal to the position of the sliding block 30 above the drill pipe box 3, and the grabbing mechanism can clamp the drill pipe in the drill pipe box 3 more accurately.

[0059] As shown in Figure 9 and Figure 10The shown grabbing mechanism includes a telescopic part, a second fixed jaw 35, a second movable jaw 36 and a second clamping oil cylinder 37, the telescopic part includes a first sleeve 38, a second sleeve 39, a third sleeve 40, a first oil cylinder 41 and a second oil cylinder 42, and the openings of the first sleeve 38 and the second sleeve 39 are both towards the drill pipe box 3, the opening of the third sleeve 40 is located at the upper end, the first sleeve 38 is fixedly installed on the outer wall of the sliding block 30, the second sleeve 39 is slidingly installed in the first sleeve 38, the third sleeve 40 is slidingly installed in the second sleeve 39, the first oil cylinder 41 is fixedly installed on the outer wall of the first sleeve 38, and the output end of the first oil cylinder 41 is connected with the outer wall of the second sleeve 39, the second oil cylinder 42 is fixedly installed in the third sleeve 40, and the output end of the second oil cylinder 42 is hingedly connected with the inner wall of the upper end of the second sleeve 39, a second position sensor 43 is fixedly installed on the inner wall of the upper end of the first sleeve 38, the output end of the second position sensor 43 is fixedly connected with the upper end of the third sleeve 40, so that the second position sensor 43 can identify the position of the third sleeve 40 in the first sleeve 38, the second fixed jaw 35 is fixedly installed on the lower end of the third sleeve 40, the second movable jaw 36 is hingedly installed on one end of the second fixed jaw 35, the second clamping oil cylinder 37 is rotatably installed in the second fixed jaw 35, and the output end of the second clamping oil cylinder 37 is fixedly connected with the hinge point of the second movable jaw 36, so that when the second clamping oil cylinder 37 extends, the second movable jaw 36 is pushed to rotate towards the second movable jaw 36, thereby clamping the drill pipe, and a second sensor 46 capable of identifying the distance of the drill pipe is fixedly installed on the outer wall of the second fixed jaw 35.

[0060] A rotating part is arranged between the telescopic part and the sliding block 30, the rotating part includes a mounting plate 44, a rotating shaft 45 and a limiting plate, the mounting plate 44 is fixedly installed on the outer wall of the first sleeve 38, the rotating shaft 45 is fixedly installed on one end of the mounting plate 44 close to the sliding block 30, the rotating shaft 45 can rotate in the sliding block 30, and one end of the rotating shaft 45 rotatingly penetrating out of the sliding block 30 is fixedly installed with the limiting plate, and the mounting plate 44 is fixed with the sliding block 30 by bolts.

[0061] The specific implementation process is as follows:

[0062] When the drilling rig is working, firstly, the grabbing mechanism moves on the guide rail 29, and the distance between the moving block 34 and the outer wall of the supporting cylinder is detected by the first position sensor 32. When the grabbing mechanism moves above the drill rod, the distance between the grabbing mechanism and the drill rod below is recognized by the second sensor 46, and then the second fixed jaw 35 and the second movable jaw 36 are driven to descend by the secondary oil cylinder. In this process, the distance between the second position sensor 43 and the upper end of the third sleeve 40 is detected. When the distance between the second position sensor 43 and the upper end of the third sleeve 40 is equal to the distance between the second sensor 46 and the drill rod, the second fixed jaw 35 and the second movable jaw 36 are just horizontal to the drill rod. Then the second movable jaw 36 is driven to move close to the second fixed jaw 35 by the second clamping oil cylinder 37, so as to clamp the drill rod. Then the secondary oil cylinder is retracted, so that the drill rod is above the drill rod box 3 and moves to the direction of the drilling rig. When the grabbing mechanism moves above the transfer groove 47, the secondary oil cylinder is elongated, so that the drill rod is close to the transfer groove 47. Then the second clamping oil cylinder 37 is retracted, so that the second fixed jaw 35 and the second movable jaw 36 release the drill rod and place it above the transfer groove 47. Then the transfer groove 47 moves to the drilling direction of the drilling rig until it moves to the clamping position of the clamping device.

[0063] In this process, compared with installing the transport device on the side wall of the drill rod box 3, the width of the drill rod box 3 in the present scheme is shortened by 25%, which is more suitable for the drilling rig to work in narrow lanes. At the same time, the height of the transport device during work is shortened by cooperating with the secondary oil cylinder, which is also beneficial to the portability of the drilling rig during transportation.

[0064] At this time, the rotary speed reducer 1 controls the rotary arm 2 to rotate clockwise, when the first arc-shaped block 25 on the outer wall of the rotary arm 2 moves to the front end of the second proximity switch 22, the second proximity switch 22 sends a signal to stop the rotary speed reducer 1 from rotating, at this time, the rotary arm 2 is perpendicular to the transfer groove 47, and the turnover device is parallel to the transfer groove 47, then the turnover device drives the clamping device to rotate to one side of the transfer groove 47 through the main shaft 5, and then the second fixed jaw 35 and the second movable jaw 36 are pushed to the drill pipe above the transfer groove 47 through the telescopic oil cylinder 12, at this time, the signal rod 14 slides in the support block 15 under the action of the connecting frame 16, when the gap 18 at one end of the signal rod 14 away from the connecting frame 16 moves to the support block 15, the first sensor 17 identifies the gap 18, so as to stop the extension of the telescopic oil cylinder 12, at this time, the first fixed jaw 9 is located directly above the drill pipe, and then the first clamping oil cylinder 11 is started to extend, so that the first movable jaw 10 clamps the drill pipe from below, and then the telescopic oil cylinder 12 retracts, when the gap 18 at one end of the signal rod 14 close to the connecting block moves to the support block 15, the first sensor 17 identifies the gap 18, so as to stop the retraction of the telescopic oil cylinder 12, ensuring that the telescopic oil cylinder 12 retracts in place, avoiding interference between the clamped drill pipe and other parts in the subsequent process, since the transport device is arranged on the upper end of the drill pipe box 3 in the present scheme, in order to avoid interference between the clamping device and the transport device during the turnover process, the clamping device is then rotated by the turnover device, when the signaling block 27 on the outer wall of the main shaft 5 rotates to the front end of the receiver 28, the hydraulic motor 4 stops rotating, at this time, the clamping device rotates 150°, and the clamping device is located in the same horizontal plane as the rotary arm 2, then the rotary speed reducer 1 drives the rotary arm 2 to rotate counterclockwise, when the second arc-shaped block 26 on the inner wall of the rotary arm 2 rotates to the front end of the third proximity switch 23, the rotary speed reducer 1 stops rotating, at this time, the rotary arm 2 rotates counterclockwise by 7°-10°, and the angle between the main shaft 5 and the transfer groove 47 is greater than the angle between the rack and the transfer groove 47, then the clamping device is brought close to the drilling rig by the turnover device rotating the clamping device by 90°, and then the rotary speed reducer 1 drives the rotary arm 2 to rotate clockwise, driving the clamping device to move downward until the mounting seat 19 contacts the first proximity switch 21, the first proximity switch 21 transmits a signal, and the rotary speed reducer 1 stops rotating, at this time, the clamping device is parallel or close to parallel to the rack, close to parallel means that the inclination angle is in the range of 0-1°, although the rotary speed reducer 1 can directly drive the turnover device to rotate to be parallel to the rack, but there is uncertainty in this process, specifically, since the distance between the second arc-shaped block 26 and the third proximity switch 23 for detecting the inclination angle of the rotary arm 2 is less than the distance from the mounting seat 19 to the rotary axis of the rotary arm 2, that is, the former rotary radius is less than the latter rotary radius, under the same rotary arc length error, the smaller rotary radius corresponds to a larger angular error, therefore, only relying on the third proximity switch 23 for detecting the inclination angle of the rotary arm 2 to position may cause the turnover device to be inclined instead of parallel to the rack within the rotary error arc length range,The rotation speed reducer 1 drives the tilting device to increase and then decrease the inclination angle, so as to ensure that the to-be-clamped drill pipe is parallel to the rack, and then the telescopic oil cylinder 12 drives the first fixed jaw 9 and the first movable jaw 10 to move close to the clamp, when the first sensor 17 identifies that the signal rod 14 is away from the notch 18 at one end of the connecting rack 16, the telescopic oil cylinder 12 is extended to the position, at this time, the drill pipe clamped by the clamping device is located directly above the clamp, finally, the telescopic oil cylinder 12 rear end is pushed by the swing oil cylinder 20, so that the first fixed jaw 9 and the first movable jaw 10 swing downward, thereby moving the drill pipe into the clamp, in the process of swinging the drill pipe, the drill pipe always moves in the radial direction of the rack, and does not move in the axial direction of the rack, then the first clamping oil cylinder 11 is retracted, so that the first movable jaw 10 is separated from the first fixed jaw 9, thereby releasing the clamping of the drill pipe, and then the transportation of the drill pipe is completed, so that the drill pipe is moved from the drill pipe box 3 to the clamp of the drilling machine.

[0065] In the above process, the drill pipe clamped by the clamping device is swung into the clamp by the swinging device in a posture parallel to the rack, the movement amplitude of the drill pipe in the axial direction of the rack during transportation is reduced, so that the length of the rack is shortened, and the applicability of the drilling machine is improved.

[0066] When the drill pipe needs to be detached, the process is opposite to the above-mentioned docking process, the clamping device first clamps the drill pipe at the upper end of the drilling machine, then the swinging mechanism drives the clamping device to move upward, so that the drill pipe is away from the drilling machine, then the rotation speed reducer 1 drives the rotary arm 2 to rotate counterclockwise, until the second arc block 26 rotates to the front end of the third proximity switch 23, so that the clamping device is further away from the drilling machine, and interference between the clamping device and the drilling machine in the subsequent rotation is avoided, then the tilting device drives the clamping device to rotate away from the drilling machine, until the signaling block 27 rotates to the front end of the receiver 28, at this time, the clamping device rotates 90°, the tilting device stops rotating, then the rotation speed reducer drives the rotary arm 2 to rotate clockwise, until the first arc block 25 moves to the second proximity switch 22, the tilting device is parallel to the transfer groove 47, then the tilting device continues to rotate the clamping device by 150°, at this time, the limiting block 8 abuts against the clamping groove 7, finally, the first movable jaw 10 and the first fixed jaw 9 are pushed close to the transfer groove 47 by the telescopic oil cylinder 12, until the drill pipe is located above the transfer groove 47, and the first clamping oil cylinder 11 is retracted to place the drill pipe on the upper end of the transfer groove 47.

[0067] The above only is the embodiment of the present application, and the well-known specific technical solutions and / or common knowledge in the scheme are not described in detail. It should be pointed out that, for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope claimed in the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A short distance drill rod handling system comprising, in sequence, a swivel reducer, a swivel arm, a roll-over device and a gripper device connected to the side walls of a frame, and a drill rod magazine provided on the swivel of the frame for loading drill rods, characterised in that: The device further comprises a swing mechanism for swinging the clamping device into or out of the gripper in parallel or close to parallel with the rack, and a transport device for transporting the drill pipe, the close-to-parallel angle being 0-1°, the transport device being arranged at the upper end of the drill pipe box, the swing mechanism being arranged between the turnover device and the clamping device, the side wall of the rack being provided with a first proximity switch for judging whether the clamping device is parallel with the rack, a second proximity switch for judging whether the turnover device is parallel with the transport groove, and a third proximity switch for judging the rotation angle of the rotary arm, the outer wall of the turnover device being provided with a signaling block, and the outer wall of the rotary arm being provided with a receiver capable of identifying the signaling block.

2. A short distance pipe handling system according to claim 1, characterised in that: The second proximity switch is arranged at one end of the rack close to the rotary arm, the outer wall of the rotary arm is provided with a first arc-shaped block, and the second proximity switch is capable of identifying the first arc-shaped block.

3. A short distance pipe handling system according to claim 2, wherein: The third proximity switch is arranged at one end of the rotary reducer close to the rotary arm, the inner wall of the rotary arm is provided with a second arc-shaped block, and the third proximity switch is capable of identifying the second arc-shaped block.

4. A short distance pipe handling system according to claim 3, wherein: The turnover device comprises a hydraulic motor and a main shaft, the hydraulic motor is arranged at one end of the rotary arm, the main shaft is rotatably arranged in the rotary arm, and the output shaft of the hydraulic motor is connected with one end of the main shaft, the other end of the main shaft away from the hydraulic motor is connected with the clamping device.

5. A short distance pipe handling system according to claim 4, wherein: The output shaft of the hydraulic motor rotates within a range of 0-240°.

6. A short distance pipe handling system according to claim 5, wherein: The swing mechanism comprises a mounting seat and a swing oil cylinder, the mounting seat is arranged at the other end of the main shaft away from the hydraulic motor, the clamping device is arranged on the inner wall of the mounting seat, and the swing oil cylinder is arranged on the inner wall of the mounting seat, and the output end of the swing oil cylinder is connected with the clamping device.

7. A short distance pipe handling system according to claim 6, wherein: The mounting seat is arranged in a U shape, and the mounting seat is capable of being in contact with the first proximity switch.

8. A short distance pipe handling system according to claim 7, characterised in that: The device further comprises a telescopic oil cylinder, the telescopic oil cylinder is arranged in the mounting seat, the clamping device is arranged at the output end of the telescopic oil cylinder, and the output end of the swing oil cylinder is connected with the outer wall of the telescopic oil cylinder.

9. A short distance pipe handling system according to claim 8, characterised in that: The outer wall of the clamping device is provided with a positioning assembly for judging the extension distance of the clamping device, the positioning assembly comprises a protective cover, a signal rod, a supporting block, a connecting frame and a first sensor, the protective cover is arranged on the outer wall of the telescopic oil cylinder, the supporting block is arranged on the inner wall of the protective cover, the signal rod is slidably arranged in the supporting block, the outer wall of both ends of the signal rod is symmetrically provided with a notch, the connecting frame is arranged at one end of the signal rod extending out of the protective cover, the connecting frame is connected with the outer wall of the clamping device, and the first sensor is arranged on the outer wall of the supporting block, and the first sensor is capable of identifying the position of each notch in the protective cover.

10. A short distance pipe handling system according to claim 9, characterised in that: The transport device comprises a grabbing mechanism for grabbing the drill pipe and a displacement mechanism capable of moving the grabbing mechanism, the displacement mechanism comprises a guide rail, a sliding block and a driving motor, the guide rail is arranged at the upper end of the drill pipe box, the sliding block is arranged at the upper end of the guide rail, the inner wall of one side of the guide rail is provided with a rack, the driving motor is arranged at one end of the sliding block away from the guide rail, the output end of the driving motor is provided with a gear, and the gear is engaged with the rack, and the grabbing mechanism is arranged on the outer wall of the sliding block.

11. A short distance pipe handling system according to claim 10, wherein: The end of the guide rail away from the grabbing mechanism is provided with a displacement sensing assembly, the displacement sensing assembly comprises a first position sensor, a protective cylinder and a moving block, the protective cylinder is arranged at one end of the guide rail away from the clamping structure, the first position sensor is arranged at one end of the protective cylinder, the moving block is arranged at one end of the sliding block away from the grabbing mechanism, and the moving block is capable of moving in the protective cylinder, and the first position sensor is capable of sensing the position of the moving block on the outer wall of the protective cylinder.

12. A short distance pipe handling system according to claim 11, characterised in that: The grabbing mechanism comprises a telescopic part, a second fixed claw, a second movable claw and a second clamping oil cylinder. The telescopic part is a first oil cylinder. The first oil cylinder is arranged on the outer wall of the sliding block. The second fixed claw is arranged on the output end of the first oil cylinder. The second movable claw is arranged on one end of the second fixed claw. The second clamping oil cylinder is arranged in the second fixed claw, and the output end of the second clamping oil cylinder is connected with the second movable claw.

13. A short distance pipe handling system according to claim 12, characterised in that: The telescopic part is a second oil cylinder. The second oil cylinder comprises a first sleeve, a second sleeve, a third sleeve, a first oil cylinder and a second oil cylinder. The openings of the first sleeve and the second sleeve are both directed to the drill pipe box. The opening of the third sleeve is directed to the end away from the drill pipe box. The first sleeve is arranged on the outer wall of the sliding block. The second sleeve is arranged in the first sleeve. The third sleeve is arranged in the second sleeve. The first oil cylinder is arranged on the outer wall of the first sleeve, and the output end of the first oil cylinder is connected with the outer wall of the second sleeve. The second oil cylinder is arranged in the third sleeve, and the output end of the second oil cylinder is connected with the inner wall of the second sleeve. The second fixed claw is arranged on the end of the third sleeve away from the opening.

14. A short distance pipe handling system according to claim 13, characterised in that: The inner wall of the end of the first sleeve away from the opening is provided with a second position sensor. The second position sensor can identify the position of the third sleeve in the first sleeve.

15. A short distance pipe handling system according to claim 14, characterised in that: A rotating part is arranged between the telescopic part and the sliding block. The rotating part comprises a mounting plate, a rotating shaft and a limiting plate. The mounting plate is arranged on the outer wall of the telescopic part. The rotating shaft is arranged on the end of the mounting plate close to the sliding block, and the rotating shaft is rotatably arranged through the sliding block. The limiting plate is arranged on the end of the rotating shaft arranged through the sliding block.

16. A short distance pipe handling system according to claim 15, characterised in that: The outer wall of the second fixed claw is provided with a second sensor capable of identifying the distance of the drill pipe.

17. A short distance pipe handling system according to claim 7, characterized in that: The movable opening of the clamping device is directed to the end away from the mounting base.

Images