Drilling machine capable of automatically loading and unloading drill rod and butt joint device

Abstract

The utility model belongs to the technical field of drilling rigs, and particularly relates to an automatic drill rod loading and unloading drilling rig and a butt joint device.The drilling rig comprises a power head, a drilling rig platform, a crawler walking chassis, a control cabinet and the butt joint device, and the butt joint device comprises a bottom plate, a containing support, a clamping assembly and a driving assembly; by installing a pressure sensor, a camera, a millimeter wave radar, a two-dimensional laser range finder and the like, the four drill rods are placed on the butt joint device, manual operation is not needed, mechanical cooperation for assembling and disassembling the drill rods is achieved through electrical control, and the automatic butt joint precision of the drill rods is improved; and labor cost and operation time are saved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of drilling rig, specifically relates to an automatic drill rod loading and unloading drilling rig and butt joint device. BACKGROUND

[0002] The existing drilling rig is semi-automatic, only the drilling process is automated, and the workers need to participate in the drill rod loading and unloading operation, which is labor-intensive on the one hand, and the workers' health is harmed on the other hand because the environmental protection industry direct push drilling rig usually needs to be used in the contaminated site for sampling.

[0003] To solve this problem, the Chinese utility model with publication number CN109915048B "automatic drill rod loading and unloading device, drill rod loading and unloading method and drilling rig" proposes to use a mechanical hand to replace manual installation and disassembly of drill rods and other actions, but the cost is high and the butt joint precision is difficult to control, especially when using threaded connection drill rods, the action is more complex. SUMMARY

[0004] Therefore, the utility model provides an automatic drill rod loading and unloading drilling rig which can at least partially solve the above problems. The drilling rig comprises a power head, a drilling rig platform, a tracked chassis, a control cabinet and a butt joint device, wherein: the butt joint device is connected with the drilling rig platform through a second hydraulic cylinder and a pin shaft; the power head comprises a first hydraulic cylinder and a fixed plate connected with the first hydraulic cylinder, an impact hammer and a hydraulic motor are installed on the fixed plate, a rotating part is arranged below the hydraulic motor, and an internal thread for butt joint with an external thread of a drill rod is arranged in the rotating part; a clamp assembly for connecting and dismounting the drill rod is arranged below the drilling rig mast, and the clamp assembly comprises a first clamp and a second clamp.

[0005] According to the preferred embodiment of the utility model, a two-dimensional laser range finder or a millimeter wave radar is arranged above the power head.

[0006] The beneficial effect is that the distance between the power head and the drill rod, i.e. the vertical distance between the rotating part and the drill rod, is measured in real time.

[0007] According to the preferred embodiment of the utility model, a camera is arranged above the power head.

[0008] The beneficial effect is that the drill rod image captured by the camera is identified through an image recognition algorithm, especially an edge recognition algorithm, the center of the drill rod to be connected is detected, and the horizontal distance between the rotating part and the drill rod is obtained to control the movement of the first hydraulic cylinder.

[0009] According to the preferred embodiment of the utility model, the rotating part is provided with a pressure sensor and is in communication connection with a servo motor in the driving assembly.

[0010] The beneficial effect is that the second hydraulic oil cylinder controls the rotating of the docking device around the pin shaft through the stroke of the oil cylinder, so that the drill pipe placed in the placing support can be located in the same vertical plane with the rotating part. When taking the drill pipe, only the stroke of the first hydraulic oil cylinder is controlled to make the rotating part located above the drill pipe to be taken, the power head moves downward along the mast, the rotating part falls to contact the drill pipe, the hydraulic motor is started, the pressure sensor of the rotating part rotates to measure the pressure data for detecting whether the rotating part and the drill pipe are "tightened", if the "tightening" is controlled by the docking device, the clamping jaw plate is opened, at this time, the power head moves upward along the mast to "lift" the drill pipe. When the two drill pipes are docked, the threaded connection gap of the two drill pipes is located between the first clamp and the second clamp, the first clamp chuck clamps the to-be-connected drill pipe to rotate, the second clamp clamps the connected drill pipe to be stationary, so that the upper part of the connected drill pipe is threadedly connected with the bottom of the to-be-connected drill pipe, and therefore the pressure sensor is also used for detecting whether the threaded connection between the drill pipe and the drill pipe is firm through the pressure change, after the drill pipe and the drill pipe are connected, the first clamp clamps the drill pipe to be stationary, and the hydraulic motor is reversed to separate the rotating part from the drill pipe. When the drill pipe is disassembled, the threaded connection gap of the two drill pipes is located between the first clamp and the second clamp, the first clamp chuck clamps the to-be-disassembled drill pipe to rotate, the second clamp clamps the connected drill pipe to be stationary, the two drill pipes are separated, the rotating part is connected with the disassembled drill pipe, and then the drill pipe is taken away, the docking device controls the clamping jaw plate to be opened, and the drill pipe is stored after the docking device controls the clamping jaw plate to be closed.

[0011] The utility model discloses a second aspect provides a kind of docking device applied to the automatic loading and unloading drill pipe drilling rig of above.

[0012] The docking device includes a placing support, a clamping assembly and a driving assembly. The placing support is arranged between the clamping assembly. The clamping assembly includes a pair of guide rails, a pair of sliding blocks sliding on the guide rails and a pair of clamping jaw plates. The driving assembly drives the sliding blocks to slide simultaneously, and drives the clamping jaw plates to move towards each other or away from each other.

[0013] According to the preferred embodiment of the utility model, the driving assembly includes a gear, a first rack, a second rack and a servo motor. The servo motor is sequentially provided with a connecting shaft, a coupling and a circular nut. The circular nut is fixedly connected with the gear to drive the gear to rotate. The gear is engaged with the first rack and the second rack. The first rack is fixed with one guide rail of the sliding blocks. The second rack is fixed with the other guide rail of the sliding blocks.

[0014] According to the preferred embodiment of the utility model, the placing support is provided with four cylindrical cavities for placing the drill pipes.

[0015] According to the preferred embodiment of the utility model, the placing support is fixedly installed on the column included in the pin shaft. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1is a schematic diagram of an automatic loading and unloading drilling rig in an embodiment.

[0017] Figure 2 is Figure 1 is a schematic diagram of an automatic loading and unloading drilling rig in an embodiment.

[0018] Figure 3 is Figure 2 is a schematic diagram of an automatic loading and unloading drilling rig in an embodiment.

[0019] Figure 4 is Figure 1 is a schematic diagram of an automatic loading and unloading drilling rig in an embodiment.

[0020] The reference signs shown in the figure: 1, hydraulic motor; 2, impact hammer; 3, docking device; 401, first hydraulic cylinder; 402, fixed plate; 501, second hydraulic cylinder; 502, pin shaft; 6, gripper assembly; 601, first gripper; 602, second gripper; 7, crawler walking chassis; 8, rotating part; 9, drill pipe; 301, clamping jaw plate; 302, stand; 303, placing support; 304, a pair of sliding blocks; 305, a pair of guide rails; 306, servo motor; 307, round nut; 308, gear; 3091, first rack; 3092, second rack; 310, connecting shaft; 311, shaft coupling. DETAILED DESCRIPTION

[0021] The utility model is described in detail below by describing example embodiments.

[0022] Please see Figure 1 . The drilling rig comprises a power head, a drilling rig platform, a crawler walking chassis 7, a control cabinet and a docking device 3. The docking device 3 is rotationally connected to the drilling rig platform by a second hydraulic cylinder 501 and a pin shaft 502. The power head is provided with a first hydraulic cylinder 401 for driving a fixed plate 402 to move horizontally perpendicular to the direction of the mast, and is specifically used for switching whether the rotating part 8 or the impact hammer 2 is above the drill pipe 9. The fixed plate 402 is provided with the impact hammer 2 and the hydraulic motor 1. The impact hammer 2 is used for drilling a large drill pipe into the ground, and the hydraulic motor 1 is used for taking and placing the drill pipe. The rotating part 8 is arranged below the hydraulic motor 1, and the rotating part 8 is provided with an internal thread for threadingly connecting with an external thread of the drill pipe 9. The hydraulic motor 1 is threadingly connected in the forward rotation mode and is threadingly separated in the reverse rotation mode. The rotating part 8 is provided with a pressure sensor (not shown in the figure). The power head can move up and down along the drill pipe mast to realize the functions of “lifting” and “placing” the drill pipe. The power head comprises the first hydraulic cylinder 401 and the fixed plate 402 connected with the first hydraulic cylinder 401, and is further provided with a two-dimensional laser range finder (not shown in the figure). Some other embodiments use a millimeter wave radar (not shown in the figure), or simultaneously use the millimeter wave radar and the two-dimensional laser range finder. The power head is further provided with a camera (not shown in the figure).

[0023] Please see Figure 4The first gripper 601 and the second gripper 602 are arranged below the drill mast of the drilling rig.

[0024] Please refer to Figure 2 The docking device 3 comprises a placing support 303, a clamping assembly and a driving assembly; the placing support 303 is arranged in the middle of the clamping assembly and is used for placing the drill pipe 9; the clamping assembly comprises a pair of guide rails 305, a pair of sliding blocks 304 sliding on the pair of guide rails 305 and a pair of clamping tooth plates 301, and the clamping tooth plates 301 are profile-fitted to the shape of the drill pipe 9; the driving assembly drives the pair of sliding blocks 304 to slide simultaneously and drives the clamping tooth plates 301 to move towards or away from each other. The placing support 303 is provided with four cylindrical cavities for placing the drill pipe 9. The bottom plate is provided with a stand column 302, and the placing support 303 is fixedly installed on the stand column 302.

[0025] Please refer to Figure 3 The driving assembly comprises a gear 308, a first rack 3091, a second rack 3092 and a servo motor 306; the servo motor 306 is sequentially provided with a connecting shaft 310, a shaft coupling 311 and a round nut 307; the round nut 307 is fixedly connected with the gear 308 and is used for driving the gear 308 to rotate; the gear 308 is engaged with the first rack 3091 and the second rack 3092; the first rack 3091 is fixed with one guide rail sliding block of the pair of sliding blocks 304, and the second rack 3092 is fixed with the other guide rail sliding block of the pair of sliding blocks 304. When the gear 308 rotates, the first rack 3091 and the second rack 3092 move in opposite directions, so that the pair of sliding blocks 304 are pushed away or aggregated.

[0026] In the description of the utility model, it is understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included one or more features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0027] In the utility model, unless otherwise specifically defined and limited, the terms "installation", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific situation.

[0028] In the utility model, unless another definite provision and limitation, first feature is on second feature " on " or " below ", can be first and second feature direct contact, or first and second feature indirectly contact through intermediate medium. Moreover, first feature is on second feature " above ", " above " and " above ", can be first feature is on second feature directly above or obliquely above, or just indicate first feature horizontal height is higher than second feature. First feature is on second feature " below ", " below " and " below ", can be first feature is on second feature directly below or obliquely below, or just indicate first feature horizontal height is lower than second feature.

[0029] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary, and cannot be understood as the limitation of the utility model, and the ordinary skilled in the art can change, modify, replace and change the above-mentioned embodiments within the scope of the utility model.

Claims

1. An automatic drill rod loading and unloading machine, characterized in that, Includes a power head, drilling platform, tracked chassis (7), control cabinet and docking device (3), wherein: The power head includes a first hydraulic cylinder (401) and a fixed plate (402) connected to the first hydraulic cylinder (401). An impact hammer (2) and a hydraulic motor (1) are fixed on the fixed plate (402). A rotating part (8) is provided below the hydraulic motor (1). The rotating part (8) is provided with an internal thread that mates with the external thread of the drill rod (9). The drilling rig is also provided with a clamping assembly (6) for connecting and disconnecting the drill rod (9), the clamping assembly (6) including a first clamp (601) and a second clamp (602). The docking device (3) is connected to the drilling platform via a second hydraulic cylinder (501) and a pin (502). The docking device (3) contains a drill rod (9). The docking device (3) is used to realize the automatic docking of the drill rod (9) and the rotating part (8).

2. The drilling rig according to claim 1, characterized in that, A two-dimensional laser rangefinder or a millimeter-wave radar is provided above the power head to obtain the vertical distance between the rotating part (8) and the drill rod (9).

3. The drilling rig according to claim 1, characterized in that, The rotating component (8) is equipped with a pressure sensor to detect whether the drill rod (9) and the drill rod (9) or the drill rod (9) and the rotating component (8) are successfully connected.

4. The drilling rig according to claim 1, characterized in that, A camera is provided above the power head to obtain the horizontal distance between the rotating part (8) and the drill rod (9) in order to control the movement of the first hydraulic cylinder (401).

5. A docking device, applied to the drilling rig according to any one of claims 1 to 4, characterized in that, The device includes a placement bracket (303), a clamping assembly, and a driving assembly; the placement bracket (303) is disposed in the middle of the clamping assembly; the clamping assembly includes a pair of guide rails (305), a pair of sliders (304) sliding on the pair of guide rails (305), and a pair of clamping jaws (301); the driving assembly is used to drive the pair of sliders (304) to slide in opposite directions, thereby causing the clamping jaws (301) to move in opposite directions.

6. The docking device (3) according to claim 5, characterized in that, The drive assembly includes a gear (308), a first rack (3091), a second rack (3092), and a servo motor (306). The servo motor (306) is sequentially equipped with a connecting shaft (310), a coupling (311), and a round nut (307). The round nut (307) is fixedly connected to the gear (308) and is used to drive the gear (308) to rotate. The gear (308) meshes with the first rack (3091) and the second rack (3092). The first rack (3091) is fixed to one of the guide rail sliders (304) of the pair of sliders, and the second rack (3092) is fixed to the other guide rail slider of the pair of sliders (304).

7. The docking device (3) according to claim 5, characterized in that, The placement bracket (303) is fixedly installed on the column (302) included in the pin (502).

8. The docking device (3) according to claim 5, characterized in that, The placement bracket (303) has four cylindrical cavities for placing the drill rod (9).

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