Rod handling device

Abstract

The present invention provides a rod handling device that can smoothly clamp stocked drilling rods and quickly, accurately, and repeatedly position the clamped drilling rods at the target position in the desired orientation. [Solution] The output command in speed control can be changed in multiple stages according to the remaining distance to the target position, for example, by making the output command different in the "high-speed operation section," "medium-speed operation section," and "low-speed operation section." In addition, the output command issued to the actuator will differ according to the extension / retraction direction of the actuator. Furthermore, the ratio of the amplitude and on-time of the pulse train in inching, which is combined with the speed control, will differ in the "high-speed operation section," "medium-speed operation section," and "low-speed operation section," similar to the speed control. In addition, the amplitude and on-time of the pulse train will differ according to the extension / retraction direction of the actuator.

Claims

1. A rod handling device (10) that grips a steel pipe (1) that is driven into the ground and sets the steel pipe (1) at a target position in a predetermined posture, The rod handling device (10) comprises a boom (15) and an arm (14) whose connecting parts (C3, C4, C5) are rotatable relative to each other, A clamping device (11) that is rotatable around the longitudinal direction (CL) and swingable in the left-right direction of the longitudinal direction (CL), A clamp mounting member (13) for pivotably attaching the clamp device (11) to the end of the arm (14), A machine body (16) that swingably supports the boom (15), The actuator (26) for the machine body (16), The actuator (25) for the boom (15) and The actuator (24) for the arm (14), The actuator (23) for the clamp mounting member (13), The actuators (22, 21) for the clamping device (11) and, The system includes a control device (40) that controls the actuators (26, 25, 24, 23, 22, 21), The control device (40) performs speed control on each of the actuators (26, 25, 24, 23, 22, 21), changing the speed from relatively high to relatively low according to the remaining distance to each target position. If necessary, instead of speed control, it performs inching, changing the amplitude and on-time ratio of the pulse train applied to the actuators (26, 25, 24, 23, 22, 21) from relatively large to relatively small according to the remaining distance to each target position. A rod handling device characterized by the following features.

2. In the rod handling device according to claim 1, The control device (40) is configured to change the speed control or the inching content according to the extension / contraction direction of the actuators (26, 25, 24, 23, 22, 21). A rod handling device characterized by the following features.

3. In the rod handling device according to claim 1, The control device (40) stores a group of angles consisting of some or all of the following as registered pattern angles (θ1*, θ2*, θ3*, θ4*, θ5*, θ6*): the rotation angle (θ1) of the clamp device (11) in the longitudinal direction (CL), the swing angle (θ2) in the left-right direction in the longitudinal direction (L1), the inclination angle (θ3) of the clamp mounting member (13) with respect to the arm (14), the inclination angle (θ4) of the arm (14) with respect to the boom (15), the inclination angle (θ5) of the boom (15) with respect to the machine body (16), and the rotation angle (θ6) of the machine body (16) in the vertical direction. The device is configured to be able to read out the stored registered pattern angles (θ1*, θ2*, θ3*, θ4*, θ5*, θ6*). A rod handling device characterized by the following features.

4. In the rod handling device according to claim 3, The control device (40) is configured to store a group of processes and sequences associated with the registered pattern angle for a series of operations performed by the rod handling device (10) as a registered pattern operation, and to be able to reproduce the stored registered pattern operation. A rod handling device characterized by the following features.

5. In the rod handling device according to claim 1, The vertical rotation angle (θ6) of the machine body (16) is measured based on the length (L) of the wire (18a) stretched between the wire encoder (18) attached to the machine body (16) and the wire fixing pole (19) attached to the lower traveling body (17). A rod handling device characterized by the following features.

6. In the rod handling device according to claim 1, The vertical rotation angle (θ6) of the machine body (16) is measured based on the amount of rotation (°) of a pair of pulleys (60, 60) around which a timing belt (61) attached to the machine body (16) and compressed by the lower traveling body (17) is wound. A rod handling device characterized by the following features.

7. In the rod handling device according to claim 1, The clamping device (11) comprises a cylinder (11a) arranged in the longitudinal direction, a chuck piece base (11d) attached to the rod (11aa) of the cylinder (11a), a pair of arms (11f, 11f) for guiding the steel pipe (1) into the inside of the device (11m), a link (11e) for linking the arms (11f) and the chuck piece base (11d), and a pair of cover plates (11j, 11j) for attaching a pin (11i) that serves as a pivot point when the arms (11f) are rotated. A rod handling device characterized by the following features.

8. In the rod handling device according to claim 1, The clamping device (11') comprises a cylinder (11a) arranged in the longitudinal direction, a chuck piece base (11d') attached to a cylinder rod (11aa), a pair of arms (11f', 11f') for guiding the steel pipe (1) into the inside of the device (11m), a link (11e') for linking the arms (11f') and the chuck piece base (11d'), an arm guide (11k) for guiding the arms (11f'), and a pair of cover plates (11j, 11j) for attaching the arm guide (11k). The arm (11f') has a semi-bow shape with an arc shape on its outer circumference and a straight shape on its inner circumference, and the arm guide (11k) has the same radius as the arc shape. A rod handling device characterized by the following features.

Images