A telescopic mechanical arm clamping device of a reverse circulation drilling rig

Abstract

The utility model discloses a retractable mechanical hand clamping device of reverse circulation drilling machine belongs to drilling equipment technical field. The device through the innovative mechanical structure design, including with the aluminum alloy double -arm drill rod outer contour accurate adaptation's specific radian arc shape pasting surface mechanical hand clamping plate, the retractable and the tightening oil cylinder assembly of collaborative work, orderly arrangement's tow chain and the straight -through isolation joint of multichannel oil circuit control etc.

Description

Technical Field

[0001] This utility model relates to the field of drilling equipment technology, specifically a telescopic manipulator clamping device for reverse circulation drilling rigs. It is mainly used in the clamping and telescopic operation of drill rods in reverse circulation drilling rigs, and is especially suitable for aluminum alloy double-arm drill rods with an outer diameter of Φ180mm-Φ320mm. Background Technology

[0002] As a crucial piece of equipment in drilling engineering, the efficiency and accuracy of reverse circulation drilling rigs largely depend on the performance of their drill pipe clamping and telescopic devices. Traditional drill pipe clamping devices suffer from several shortcomings: Structural defects: The contact area between the clamping components and the drill pipe is often a flat or simple curved surface, resulting in a small contact area (typically only 30%-40% of the drill pipe's outer surface). Furthermore, the curved contact surface lacks clearly defined curvature parameters, leading to a mismatch between the curvature and the drill pipe's outer diameter (often exceeding 2mm). This makes the drill pipe prone to slippage and displacement during clamping, severely impacting drilling accuracy. Additionally, some devices lack anti-slip design on the curved surface or have poorly distributed anti-slip textures, further reducing clamping stability.

[0003] Poor motion continuity: The drive components for telescopic and clamping actions operate independently, lacking a coordinated structural design, resulting in unsmooth action switching and low work efficiency.

[0004] Insufficient component protection: Auxiliary components such as cable chains lack effective storage and protection structures. During long-term and frequent extension and retraction operations, they are prone to damage due to wear, entanglement and other problems, increasing equipment maintenance costs and downtime.

[0005] Simple hydraulic circuit control: The hydraulic circuit control components are mostly single-channel or simple multi-channel, which makes it difficult to achieve precise synchronous control of multiple hydraulic cylinders, affecting the overall performance of the device.

[0006] These problems greatly limit the application of reverse circulation drilling rigs in complex drilling conditions. Therefore, developing a clamping device with a reasonable structure, coordinated actions, adequate protection, and precise control is of great practical significance. Utility Model Content

[0007] The purpose of this utility model is to provide a clamping device for a telescopic manipulator of a reverse circulation drilling rig, so as to solve the problems of unreasonable structure (especially the lack of design of the curvature of the clamping surface), uncoordinated actions, easy damage of components and insufficient oil circuit control in the above-mentioned background technology, so as to realize efficient and stable clamping and telescopic operation of drill rod, and improve the operation performance and reliability of reverse circulation drilling rig.

[0008] To achieve the above-mentioned objectives, this utility model employs the following technical solution: A clamping device for a telescopic manipulator of a reverse circulation drilling rig includes the following components and their connecting relationships: Main support components: The drilling arm cylinder provides basic support for the entire device and is the core carrier for the installation of various components; the large-diameter protective sleeve of the robotic arm is set on the drilling arm cylinder to protect and position the relevant components of the robotic arm. Its inner diameter is 5mm-8mm larger than the maximum outer diameter of the robotic arm to ensure that the robotic arm moves without jamming. The robotic arm clamp is a plate-like structure adapted to the shape of an aluminum alloy double-arm drill rod. Its key innovation lies in the arc-shaped contact surface design with the aluminum alloy double-arm drill rod: for aluminum alloy double-arm drill rods with an outer diameter of Φ180mm-Φ320mm commonly used in drilling projects, the arc of the contact surface is designed to be 120°-150°. When the drill rod's outer diameter is Φ180mm-Φ220mm, the arc is 120°-130°, and the arc radius is 90.5mm-111.2mm (0.5mm-1.2mm different from the drill rod radius of 90mm-110mm); when the drill rod's outer diameter is Φ230mm-Φ280mm, the arc is 135°-140°, and the arc radius is 115.8mm-141.0mm (different from the drill rod radius of 115mm-140mm). The difference is 0.8mm-1.0mm; when the drill rod outer diameter is Φ290mm-Φ320mm, the arc is 145°-150°, and the arc radius is 145.5mm-161.2mm (the difference from the drill rod radius of 145mm-160mm is 0.5mm-1.2mm). This parameter design allows the contact area between the arc-shaped contact surface and the outer surface of the drill rod to reach 1 / 3-1 / 2 of the outer circumference of the drill rod (i.e., the contact area accounts for 33%-50% of the outer surface of the drill rod), far exceeding the less than 30% of the traditional device, greatly improving the clamping stability.

[0009] The aforementioned arc-shaped mating surface is machined using a CNC milling machine, with a surface roughness ≤ Ra1.6μm, ensuring that there are no sharp protrusions that could damage the drill rod when in contact with it. Simultaneously, a cross-grid anti-slip pattern is provided in the central area of ​​the arc-shaped mating surface (accounting for 60%-70% of the total area), with a grid spacing of 3mm-5mm and a pattern depth of 0.8mm-1.5mm. This central area is the main stress zone during clamping, and the anti-slip pattern increases the coefficient of friction (from 0.15 without the pattern to 0.25-0.3). Furthermore, the absence of anti-slip patterns at the edges prevents stress concentration between the pattern and the drill rod edge during clamping, thus preventing scratches on the drill rod surface.

[0010] The aforementioned robotic arm clamp is made of 45 steel with heat treatment (hardness HRC28-32), which forms a reasonable hardness difference with the hardness of the aluminum alloy double-arm drill rod (HRC15-20), ensuring the wear resistance of the clamp and preventing the drill rod from being damaged.

[0011] The aforementioned cable chains and swing arm cable chains are used for the orderly arrangement and traction of internal wiring and piping. The cable chain pitch is 25mm-30mm, suitable for piping with diameters of Φ8mm-Φ12mm; the swing arm cable chain pitch is 30mm-35mm, suitable for wiring with diameters of Φ10mm-Φ15mm. The cable chain boxes below and above the telescopic arm are hollow box structures. The internal cavity height is 10mm-15mm larger than the maximum outer diameter of the cable chain, and the width is 8mm-12mm larger than the width of the cable chain, ensuring smooth sliding without jamming. The boxes also have dustproof covers on the sides, achieving a dustproof rating of IP54.

[0012] The aforementioned telescopic hydraulic cylinder assembly for the robotic arm includes a cylinder body, a piston, and a piston rod. The piston can slide smoothly within the cylinder body. One end of the piston rod is connected to the piston, and the other end is connected to an external component requiring telescopic movement via the front pin of the telescopic hydraulic cylinder. The cylinder body is connected to the drilling arm barrel via the rear pin of the telescopic hydraulic cylinder. The fit precision between the cylinder body and the piston rod reaches IT7 grade, and the clearance between the piston and the cylinder body is 0.02mm-0.05mm, ensuring the smoothness and accuracy of the telescopic movement. The maximum telescopic speed can reach 50mm / s.

[0013] The aforementioned robotic arm clamping cylinder assembly includes a cylinder barrel, a plunger, and a connecting structure. The plunger moves within the cylinder barrel, driving the robotic arm clamping plate to move via the robotic arm clamping plate pin. The clamping force can be adjusted according to the drill pipe specifications, ranging from 5kN to 15kN. The plunger and cylinder barrel are sealed with a V-ring, made of nitrile rubber (oil resistant temperature -20℃ to 120℃), ensuring no leakage under a working pressure of 31.5MPa.

[0014] In the connection structure of the aforementioned components, there are front pin spacers, rear pin spacers, manipulator cylinder head pins, and manipulator cylinder tail pins. The front and rear pin spacers are made of wear-resistant alloy material Cr15Mo3 with a surface hardness of HRC50-55. The inner diameter is 0.1mm-0.2mm larger than the pin diameter to ensure that the pin rotates without jamming. Each pin is treated with 40Cr quenching and tempering (hardness HRC35-40) and chrome-plated (plating thickness 0.05mm-0.1mm) to improve wear resistance.

[0015] Oil circuit control components: The straight-through partition connector is a multi-port structure, usually 4-6 ports, with a diameter of 10-15mm, a pressure resistance of not less than 31.5MPa, and is made of 304 stainless steel. It is equipped with a one-way valve inside to prevent oil backflow and realize synchronous or time-sharing control of the manipulator telescopic cylinder assembly and clamping cylinder assembly, with a control delay of ≤0.5s.

[0016] This utility model employs a multi-channel straight-through partition joint, combined with precise clamping of an arc-shaped contact surface, forming a synergistic system of "precise oil circuit control - stable clamping surface contact - smooth telescopic movement," fundamentally different from the single-function design of traditional devices. The large contact area (33%-50%) and anti-slip texture design of the arc-shaped contact surface reduce the slippage rate during drill pipe clamping from 15%-20% in traditional devices to below 3%, adapting to high-frequency vibration conditions during drilling in complex geological formations (such as pebble layers and rock strata). Simultaneously, the various arc parameters can cover over 80% of commonly used aluminum alloy double-arm drill pipe specifications, offering strong versatility. The dustproof design of the drag chain box and the oil-resistant seal of the hydraulic cylinder increase the device's mean time between failures (MTBF) from 800 hours in traditional devices to over 1500 hours, reducing maintenance costs by 30%-40%.

[0017] By integrating the "arc-radius difference-anti-slip texture" three-in-one design of the arc-shaped mating surface, the core problems of "unstable clamping and easy damage to the drill rod" in traditional devices are solved, thereby improving both clamping stability and drill rod protection performance, resulting in a technical effect of "1+1>2". At the same time, the CNC machining accuracy (Ra1.6μm) is introduced into the manufacturing of the clamping surface to ensure that the design parameters are implemented, which has outstanding substantive features and significant progress. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the structure of this utility model.

[0019] Figure 2 is a top view of this utility model.

[0020] Figure 3 is a cross-sectional view of the present invention along the AA direction.

[0021] Figure 4 This is a side view of the present invention.

[0022] In the diagram: 1 - Drilling arm barrel, 2 - Large-diameter casing for robotic arm, 3 - Robotic arm clamping plate, 4 - Aluminum alloy double-arm drill rod, 5 - Cable chain, 6 - Swing rod cable chain, 7 - Lower cable chain box for telescopic arm, 8 - Telescopic cylinder assembly for robotic arm, 9 - Clamping cylinder assembly for robotic arm, 10 - Upper cable chain box for telescopic arm, 11 - Rear pin of telescopic cylinder, 12 - Front pin of telescopic cylinder, 13 - Pin of robotic arm clamping plate, 14 - Front pin spacer, 15 - Rear pin spacer, 16 - Cylinder head pin of robotic arm, 17 - Tail pin of robotic arm, 18 - Straight-through connector. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Figure 1 — Figure 4 As a preferred embodiment of this utility model, it shows a clamping device for a telescopic manipulator of a reverse circulation drilling rig, comprising the following components and their connecting relationships: Main support components: The drilling arm cylinder provides basic support for the entire device and is the core carrier for the installation of various components; the large-diameter protective sleeve of the robotic arm is set on the drilling arm cylinder to protect and position the relevant components of the robotic arm. Its inner diameter is 5mm-8mm larger than the maximum outer diameter of the robotic arm to ensure that the robotic arm moves without jamming. The robotic arm clamp is a plate-like structure adapted to the shape of an aluminum alloy double-arm drill rod. Its key innovation lies in the arc-shaped contact surface design with the aluminum alloy double-arm drill rod: for aluminum alloy double-arm drill rods with an outer diameter of Φ180mm-Φ320mm commonly used in drilling projects, the arc of the contact surface is designed to be 120°-150°. When the drill rod's outer diameter is Φ180mm-Φ220mm, the arc is 120°-130°, and the arc radius is 90.5mm-111.2mm (0.5mm-1.2mm different from the drill rod radius of 90mm-110mm); when the drill rod's outer diameter is Φ230mm-Φ280mm, the arc is 135°-140°, and the arc radius is 115.8mm-141.0mm (different from the drill rod radius of 115mm-140mm). The difference is 0.8mm-1.0mm; when the drill rod outer diameter is Φ290mm-Φ320mm, the arc is 145°-150°, and the arc radius is 145.5mm-161.2mm (the difference from the drill rod radius of 145mm-160mm is 0.5mm-1.2mm). This parameter design allows the contact area between the arc-shaped contact surface and the outer surface of the drill rod to reach 1 / 3-1 / 2 of the outer circumference of the drill rod (i.e., the contact area accounts for 33%-50% of the outer surface of the drill rod), far exceeding the less than 30% of the traditional device, greatly improving the clamping stability.

[0025] The aforementioned arc-shaped mating surface is machined using a CNC milling machine, with a surface roughness ≤ Ra1.6μm, ensuring that there are no sharp protrusions that could damage the drill rod when in contact with it. Simultaneously, a cross-grid anti-slip pattern is provided in the central area of ​​the arc-shaped mating surface (accounting for 60%-70% of the total area), with a grid spacing of 3mm-5mm and a pattern depth of 0.8mm-1.5mm. This central area is the main stress zone during clamping, and the anti-slip pattern increases the coefficient of friction (from 0.15 without the pattern to 0.25-0.3). Furthermore, the absence of anti-slip patterns at the edges prevents stress concentration between the pattern and the drill rod edge during clamping, thus preventing scratches on the drill rod surface.

[0026] The aforementioned robotic arm clamp is made of 45 steel with heat treatment (hardness HRC28-32), which forms a reasonable hardness difference with the hardness of the aluminum alloy double-arm drill rod (HRC15-20), ensuring the wear resistance of the clamp and preventing the drill rod from being damaged.

[0027] The aforementioned cable chains and swing arm cable chains are used for the orderly arrangement and traction of internal wiring and piping. The cable chain pitch is 25mm-30mm, suitable for piping with diameters of Φ8mm-Φ12mm; the swing arm cable chain pitch is 30mm-35mm, suitable for wiring with diameters of Φ10mm-Φ15mm. The cable chain boxes below and above the telescopic arm are hollow box structures. The internal cavity height is 10mm-15mm larger than the maximum outer diameter of the cable chain, and the width is 8mm-12mm larger than the width of the cable chain, ensuring smooth sliding without jamming. The boxes also have dustproof covers on the sides, achieving a dustproof rating of IP54.

[0028] The aforementioned telescopic hydraulic cylinder assembly for the robotic arm includes a cylinder body, a piston, and a piston rod. The piston can slide smoothly within the cylinder body. One end of the piston rod is connected to the piston, and the other end is connected to an external component requiring telescopic movement via the front pin of the telescopic hydraulic cylinder. The cylinder body is connected to the drilling arm barrel via the rear pin of the telescopic hydraulic cylinder. The fit precision between the cylinder body and the piston rod reaches IT7 grade, and the clearance between the piston and the cylinder body is 0.02mm-0.05mm, ensuring the smoothness and accuracy of the telescopic movement. The maximum telescopic speed can reach 50mm / s.

[0029] The aforementioned robotic arm clamping cylinder assembly includes a cylinder barrel, a plunger, and a connecting structure. The plunger moves within the cylinder barrel, driving the robotic arm clamping plate to move via the robotic arm clamping plate pin. The clamping force can be adjusted according to the drill pipe specifications, ranging from 5kN to 15kN. The plunger and cylinder barrel are sealed with a V-ring, made of nitrile rubber (oil resistant temperature -20℃ to 120℃), ensuring no leakage under a working pressure of 31.5MPa.

[0030] The connection structure of the aforementioned components includes a front pin spacer, a rear pin spacer, a manipulator cylinder head pin, and a manipulator cylinder tail pin. The front and rear pin spacers are made of wear-resistant alloy material Cr15Mo3 with a surface hardness of HRC50-55. Their inner diameter is 0.1mm-0.2mm larger than the pin diameter to ensure that the pin rotates without jamming. Each pin is treated with 40Cr quenching and tempering (hardness HRC35-40) and chrome-plated (plating thickness 0.05mm-0.1mm) to improve wear resistance. The straight-through partition joint is a multi-port structure, usually 4-6 ports, with a diameter of 10-15mm, a pressure resistance of not less than 31.5MPa, and is made of 304 stainless steel. It is equipped with a one-way valve to prevent oil backflow and realize synchronous or time-sharing control of the manipulator telescopic cylinder assembly and clamping cylinder assembly, with a control delay ≤0.5s.

[0031] For example, the arc-shaped contact surface of the robotic arm clamp has the following characteristics: arc angle 125°, arc radius 100.8mm (drill rod radius 100mm, difference 0.8mm), surface roughness Ra 1.2μm, anti-slip texture grid spacing 4mm, texture depth 1.0mm, and anti-slip texture area occupies 65% of the arc surface.

[0032] Assembly process: Fix the manipulator clamping plate to the inner bracket of the large-diameter casing of the manipulator with bolts, ensuring that the center of the arc-shaped mating surface is aligned with the center of the drill pipe (coaxiality error ≤ 0.5mm); the plunger end of the manipulator clamping cylinder assembly is connected to the clamping plate through the manipulator clamping plate pin, and the fitting clearance between the pin and the clamping plate is 0.1mm-0.2mm.

[0033] Working process: When the Φ200mm aluminum alloy double-arm drill rod is in place, the straight-through partition joint control oil circuit supplies oil to the manipulator clamping cylinder assembly. The plunger pushes the manipulator clamping plate to move towards the drill rod. After the arc-shaped contact surface contacts the drill rod, due to the precise fit of the 125° arc and the 100.8mm radius, the contact area reaches 38% of the outer surface of the drill rod. Combined with the friction coefficient increase of the anti-slip texture, stable clamping is achieved (clamping force is set to 8kN). Subsequently, the manipulator telescopic cylinder assembly moves, driving the drill rod to extend and retract to the designated position. The cable chain slides synchronously in the cable chain box under the telescopic arm without any jamming.

[0034] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

Claims

1. A clamping device for a telescopic manipulator of a reverse circulation drilling rig, characterized in that, The device includes a drilling arm barrel (1), on which a large-diameter manipulator sleeve (2) is provided; a manipulator clamp (3) is fitted at the large-diameter manipulator sleeve (2), and the manipulator clamp (3) has an arc-shaped fitting surface that is compatible with the aluminum alloy double-arm drill rod (4); the device also includes a drag chain (5) and a swing rod drag chain (6), as well as a telescopic arm lower drag chain box (7) and a telescopic arm upper drag chain box (10) for installing the drag chain (5) and the swing rod drag chain (6); the device is equipped with a manipulator telescopic cylinder assembly (8) and a manipulator clamping cylinder assembly (9), and the manipulator telescopic cylinder assembly (8) is connected to the telescopic cylinder rear pin The shaft (11) and the front pin (12) of the telescopic cylinder are connected. The manipulator clamping cylinder assembly (9) is connected through the manipulator clamping plate pin (13). The connection structure is provided with a front pin spacer (14), a rear pin spacer (15), a manipulator cylinder head pin (16), and a manipulator cylinder tail pin (17). The device is also equipped with a straight-through partition joint (18) for oil circuit connection. The manipulator clamping plate (3) is a plate structure adapted to the shape of the aluminum alloy double-arm drill rod (4). Its arc-shaped contact surface with the aluminum alloy double-arm drill rod (4) satisfies the following: when the outer diameter of the aluminum alloy double-arm drill rod (4) is Φ180mm-Φ320mm At that time, the arc of the arc-shaped mating surface is 120°-150°, and the difference between the arc radius and the corresponding drill rod outer diameter is controlled within the range of 0.5mm-1.2mm. The surface roughness of the arc-shaped mating surface is ≤Ra1.6μm. The lower drag chain box (7) and the upper drag chain box (10) of the telescopic arm are hollow box structures with cavities inside for accommodating the drag chain (5) and the swing rod drag chain (6). The straight-through partition joint (18) is a multi-pass structure that can simultaneously realize the separation and connection of multiple oil circuits.

2. The clamping device for a telescopic manipulator of a reverse circulation drilling rig according to claim 1, characterized in that, The arc-shaped contact surface of the robotic arm clamp (3) is also provided with anti-slip texture. The anti-slip texture is a cross-grid pattern with a grid spacing of 3mm-5mm and a texture depth of 0.8mm-1.5mm. The anti-slip texture is only distributed in the middle area of ​​the arc-shaped contact surface, accounting for 60%-70% of the total area of ​​the arc-shaped contact surface, so as to avoid stress concentration when in contact with the drill rod.

3. The clamping device for a telescopic manipulator of a reverse circulation drilling rig according to claim 1, characterized in that, The telescopic hydraulic cylinder assembly (8) of the robotic arm includes a cylinder body, a piston and a piston rod. The piston slides in the cylinder body. One end of the piston rod is connected to the piston, and the other end is connected to the external component that needs to be telescopically extended through the front pin (12) of the telescopic hydraulic cylinder. The cylinder body is connected to the drilling arm cylinder (1) through the rear pin (11) of the telescopic hydraulic cylinder. The fitting accuracy between the cylinder body and the piston rod is IT7 grade.

4. The clamping device for a telescopic manipulator of a reverse circulation drilling rig according to claim 1, characterized in that, The robotic arm clamping cylinder assembly (9) includes a cylinder barrel, a plunger, and a connecting structure. The plunger moves inside the cylinder barrel and drives the robotic arm clamping plate (3) to move through the robotic arm clamping plate pin (13) to achieve clamping of the aluminum alloy double-arm drill rod (4). The plunger and the cylinder barrel are sealed with a V-shaped sealing ring.

5. The clamping device for a telescopic manipulator of a reverse circulation drilling rig according to claim 1, characterized in that, The front pin spacer (14) and the rear pin spacer (15) are made of wear-resistant alloy material with a surface hardness of HRC50-55.

6. The clamping device for a telescopic manipulator of a reverse circulation drilling rig according to claim 1, characterized in that, The through-hole connector (18) has a diameter of 10-15mm and a pressure resistance of not less than 31.5MPa.

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