• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A handling device for handling drill string components (8, 8 ',8") in respect of a rock drill rig (1), which includes a rotator device (4) being supported moveably to and fro on a feed beam (2) and being arranged for rotation and driving of a drill string component, wherein the handling device includes a gripper unit (11) for gripping drill string components (8, 8 ',8") to be placed into or be removed from an active drill string position (A) of the drill rig. The gripper unit (11) is swingably supported around a first swing axis (Al) in the region of the feed beam between: a) a first position aligned with said active drill string position (A), and b) a second position aligned with a delivering position for drill string components to be placed into and removed from said active drill string position (A), wherein the handling device includes a swing arm (7), having support means (7') for supporting a drill string component and which is swingable around a second swing axis (A2) between a loading position for drill string components and said delivering position, wherein a guiding beam (19) is fastenable at its end regions in connection with the respective regions of the first and the second swing axis (A1;A2), and wherein the guiding beam (19) forms mechanical stops for the gripper unit (11) in said second position as well as for the swing arm (7) in the delivering position. The invention also concerns a rock drill rig and a method.
    公开号:SE1250728A1
    申请号:SE1250728
    申请日:2012-06-28
    公开日:2013-12-29
    发明作者:Rickard Gustavsson
    申请人:Atlas Copco Rocktech Ab；
    IPC主号:
    专利说明:

    burdensome for the operator and entails a non-negligible risk of lifting and crushing injuries for the operator.
    Core drilling often takes place at very great depths, such as for drill lengths between 1,000 - 2,000 m. Due to the fact that the drill bit in operation is subject to wear, it needs to be replaced relatively often, which means that the entire drill string must be removed from the borehole. disassembled into drill string components, the worn drill bit is removed and replaced with a new one, after which the drill string can be lowered into the hole again. Then drill another section until the drill bit has to be replaced again, and so on. During the actual drilling, a flushing fluid swivel is connected to the upper end of the drilling string to provide flushing fluid for transporting away rock material loosened by the drilling.
    OBJECTS AND MOST IMPORTANT CHARACTERISTICS OF THE INVENTION It is an object of the invention to provide a device of the above kind, in which the problems as above are addressed and at least partially solved.
    This is achieved in a handling device as above in that the gripper unit is supported pivotable about a first pivot axis arranged in the area of the feed beam between: a) a first position, aligned with said active drill string position, and b) a second position, aligned with a delivery position for drill string components, which is to be inserted into and removed from said active drill string position, the handling device comprising a pivot arm, which has support means for supporting a drill string component, and which is pivotable about a second pivot axis between a loading string for drill string components and said end areas adjacent to the respective area of the first and the second shaft, and wherein the alignment beam 10 forms a mechanical stop for both the gripper unit in said second position and for the pivot arm in the delivery position.
    The pivotability of the gripper unit allows that in the first position it is arranged to actively align end portions of drill string components to be joined together. This achieves the possibility of correct alignment in its entirety between drill string components, which are to be spliced or separated, which allows assurance of correct handling of the drill string components during the threading operations and avoidance of thread damage, which can result from incorrect attempts at threading. It is also important that separation takes place in a focused and controlled manner.
    Due to the pivotability to the second position, it is achieved that the gripper unit becomes capable in this second position to engage with an end portion of a drill string component in the delivery position in order in this position to correspondingly provide direction for entry and exit of a lifting plug or a flushing fluid swivel (in this case of the current last drill string component of the drill string) in and from the gripped drill string component, respectively. The gripper unit thus provides for the attachment of a lifting plug and a water swivel, respectively, to the drill string component in the delivery position.
    The pivot arm of the handling device ensures that a supported drill string component is pivoted from a loading position for drill string components, which is, for example, suitably a horizontal position to said delivery position, which is usually an inclined position for the supported drill string component.
    The drill string component can be transferred to the loading position manually or by any method known per se. In the delivery mode, there is then a targeted interaction with the gripper unit, which is in its second position.
    In order to ensure in an efficient and safe manner accurate alignment between the gripper unit and the drill string component supported by the pivot arm, a alignment beam is arranged according to the invention, which is designed and arranged so as to form a mechanical stop for both the gripper unit in said second position as for the swingarm in the delivery position. For this purpose, the alignment beam is attachable to its end regions adjacent to the respective area of the first and second shafts. This arrangement means that the alignment beam in each setting position for the drilling rig, for example with different slopes for the feed beam, at varying slopes of a base for the rig and different height positions for the rig parts, can more or less automatically constitute setting reference through said mechanical stop, partly more or less automatically additionally provide suitable end positioning of the drill string component supported by the pivot arm relative to the gripper unit.
    The invention entails great handling advantages.
    It should be noted that the requirements for alignment for joining drill string components for core drilling are very strict.
    Thus, a misalignment of components, which are to be joined together by more than 10, is not tolerated. Larger angular deviations in all probability result in failed joining and in more serious cases thread damage.
    It is preferred that the alignment beam is attachably hinged about a first hinge axis adjacent to an area of the first pivot axis and in particular that the first hinge axis is at least substantially coaxial with the first pivot axis. It is also preferred that the alignment beam is attachably hinged about a second hinge axis adjacent to an area of the second pivot axis and in particular that the second hinge axis is at least substantially coaxial with the second pivot axis.
    These arrangements individually facilitate and can, especially in cooperation, even eliminate the need for adjustment of the alignment beam and / or with this cooperating member on the gripper unit and the pivot arm, respectively, after adjustment of the rig or even. in case of accidental movement of the rig or of the support (such as the magazine) for the end beam of the alignment beam facing the rig.
    In the first position, the gripper unit is positioned to engage an end portion of a first drill string component and an end portion of a second drill string component, respectively. In the second position, the gripper unit is positioned to engage aligned with an end portion of a drill string component to be inserted into and removed from said active drill string position, respectively.
    Suitably, the alignment code of e.g. a. manufacturing reasons rectilinear extent.
    Preferably, the pivot arm and / or the gripper unit in a respective distal area, opposite an area of the respective hinge axis, have abutment elements for alignment contact with abutment means on the alignment beam in said delivery position. Suitably, at least one of said abutment elements and said abutment means is adjustable for adjusting alignment position.
    Preferably, the pivot arm and / or the alignment beam have mutual control elements for lateral alignment of the pivot arm in the delivery position in order to eliminate to some extent an effect of a mutual lateral lowering of the pivot arm relative to the alignment beam.
    It is preferred that the alignment beam has a longitudinal guide and a gripper carriage movable along the longitudinal guide, which has an articulated gripper for gripping a first end region of the first drill string component, the second end region of which is arranged to engage with a lifting plug. This arrangement greatly facilitates the handling both during the process of lifting and inserting a drill string component into the drill string position with a lifting wire and during the process of lifting and removing a drill string component from the drill string position. In principle, no corresponding control takes place according to the prior art, but it is up to the operator to ensure that in the most raised positions of a drill string component, when it hangs in the lifting wire, a correct insertion into the drill string position takes place and a correct removal. from the drill string position to a handover position for fine transport takes place. The arrangement with a gripper trolley instead allows safe and correct control of a free end of a lifted drill string component in the respective position.
    The invention also relates to a rock drilling rig including a rotator device intended for rotation and drive of a drill string, which is movably reciprocated by a feed beam, and a handling device as above.
    Furthermore, the invention relates to a method for handling drill string components in a rock drilling rig. This method is characterized in that the gripper unit is pivoted about a first pivot axis arranged in the area of the feed beam between: a) a first position, aligned with said active drill string position, and b) a second position, aligned with a delivery position for drill string components to be inserted into the respective socket from said active drill string position, a pivot arm having support means for supporting a drill string component being pivoted about a second pivot axis between a loading position for drill string components and said delivery position, and wherein an alignment beam attachable at its respective end region to and the second shaft, mechanically stopping both the gripper unit in said second position and the pivot arm in the delivery position.
    The advantages stated above in connection with the handling device according to the invention and the features subordinate thereto are applicable also to the method according to the invention. The invention will now be described in more detail with reference to exemplary embodiments and with reference to the accompanying drawings.
    BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows in a side view a rock drilling rig for core drilling provided with a handling device according to the invention and in connection with a magazine for drill string components, Fig. 2 shows in a perspective view the gripper unit isolated and on a larger scale, Figs. Fig. 3 shows a side view corresponding to Fig. 1 with means belonging to the handling device in another position, Fig. 4 shows in a perspective view a gripper trolley belonging to the handling device, Figs. 5a and b show on a larger scale perspective views of the handling device substantially corresponding to the positions in Fig. 1 and 3, and Fig. 6 schematically shows a flow chart for a method according to the invention, and Figs. 7a and b show on a larger scale perspective views of the handling device in different positions.
    DESCRIPTION OF EXEMPLARY EMBODIMENTS Fig. 1 shows a feed beam 2 which can be adjusted with varying angle of inclination to a rock drilling rig for core drilling.
    The rig includes a rotator device 4 which is movably mounted on the feed beam 2 forwards and backwards. Below (in the picture) the rotator device 4 a tube holder 5 is arranged for temporary holding of the drill string when necessary.
    Adjacent to the feed beam 2 is a power unit (not shown) for supplying pressure fluid etc. to the rock drilling rig and a lifting winch (not shown). A magazine 6 is provided for receiving drill string components 10 (indicated by a dotted line at 8), which are to be inserted into and picked from the rock drilling rig, respectively, in a manner which will be described below.
    The magazine 6 can be designed in different ways but is exemplified in Fig. 1 in the form of a substantially horizontal table, which is inclined so that drill string components 8 can be made to roll against a pivot arm 7 arranged for receiving a drill string component 8.
    In Fig. 1, a dashed line component in a position during a lifting phase, which is an inclined position relative to the feed beam 2, is further indicated by a dashed line at 8 ".
    This line at 8 ”in Fig. 1 is intended to illustrate an intermediate position during the lifting phase, which ends with the drill string component assuming a position which is coaxial with an active drill string position for the rock drilling rig. Lifting takes place by means of a lifting plug threaded in at the top of the drill string component 8 ”(25 see below). During this process, the lifting plug is in turn connected to a lifting wire (not shown), which in turn runs over a wire pulley (not shown) at the top of the feed beam and with its other part extends substantially parallel to the feed beam 2 to the one in the area of force. and the drive unit 3 set up the lifting winch (not shown).
    Furthermore, Fig. 1 shows a lifting plug 25 gripped by a gripper unit 11 and threaded to an end portion of a drill string component 8 'present in a drill string position.
    In Fig. 1 it further appears that said end portion protrudes from the rotator device 4 so that this drill string component 8 'is in an active drill string position A. The drill string component 8' has a female thread for engagement with a corresponding male thread on the plug 25.
    Splicing of a further, second, drill string component 8 'to the first drill string component 8' for the purpose of extending the drill string for subsequent immersion in the borehole takes place substantially corresponding to the method of threading a lifting plug. See below.
    The gripper unit 11 is shown in a first position in Fig. 1, in which a gripping position defined by the gripper unit 11, which has a gripping position axis G (see dashed line in Fig. 1), is coaxial with said active drill string position A.
    Furthermore, a guide beam 19 is shown in more detail in this figure, which is arranged to constitute a stop for the pivot arm 7 in an upturned delivery position for a supported drill string component 8. In addition, the guide beam 19 constitutes a stop for the gripper unit 11 in the second position thereof.
    Support means in the form of a chute for supporting a drill string component are indicated by 7 ”.
    The gripper unit 11, shown in more detail in Fig. 2, has a first set of grippers 12 for engaging said first drill string component 8 '(in Fig. 1) and rotating means 14 in the form of a rotary gripping unit, which has drive rollers 20 for engaging with a component such as a drill string component to be rotated along with drive motors 21 for these drive rollers. In addition, the gripper unit 11 has a second set of grippers 13 for cooperating with the rotary gripper unit for engagement with a component. Each set of grippers 12 and 13 comprises a pair of gripping elements such as gripping claws, which may suitably be individually manoeuvrable in order to be able to function also as a stop for a drilled string component.
    The same applies to the rotary gripper unit, which comprises a pair of rotary gripper means.
    The first set of grippers 12 is operated by hydraulic cylinders, one of which is indicated by 15 and the second set of grippers is operated by hydraulic cylinders 17.
    The rotating means 14 with the drive rollers are supported on pivotable rotary clamping means, which are brought into engagement with a component to be rotated by means of hydraulic cylinders, one of which is shown and indicated by 16. A part of the gripper unit 11 comprising the rotating means 14 and normally also the second set of grippers 13 is furthermore displaceable in a direction parallel to said gripping position axis 3. See double arrow. The purpose of this displaceability is to appropriate a part of the gripper unit 11, and in particular the rotating means 14, an axial movement and a rotation of the drive rollers so that it is compensated for the thread pitch during the rotational drive of the component being rotated.
    Fig. 2 further shows a pivoting unit 18, which is attached to the rig and supports the gripper unit 11 for pivoting about a first pivot axis A1 between the position shown in Figs. 1 and 2 (a first position) and a unfolded position (a second position), which is described below.
    Fig. 2 shows the sets of grippers 12 and 13 with one gripper clone open respectively. In general, open second set of grippers and rotating means 14 recessed into engagement with the plug or drill string component allow rotation of the plug or drill string component 8 without obstruction of engagement of the second set of grippers 13.
    After applying an additional drill string component to a position on top of one located in position A (instead of the lifting plug 25 in Fig. 1), the drill string components are thus contracted by the rotating means, after which the joint is terminated in the usual manner by the rotator device 4.
    The drill string can then be lowered by slackening the lifting wire.
    (Of course, splicing takes place in the same way when the drill string has sunk by drilling.) Then the drill string is lowered down to the position shown in Fig. 1, the next drill string component reaching the position indicated by 8 'with an end portion protruding from the rotator device 4 and with the lifting plug 25 sitting on top of this drill string component. This lifting plug must now be pulled loose from the drill string. The lifting plug 25 consists of a swivel device and therefore has two mutually rotatable parts, as shown in Fig. 2, namely an engaging part 26, which is provided at the bottom with a male thread 26 'on its free end facing the drill string component and a lifting part 27, which is ultimately provided with a lifting loop for co-operation with a lifting wire as described above.
    The rotary gripping unit of the gripping unit 11 comprises the drive rollers 20, which have a surface with engaging means for ensuring good gripping engagement against a component to be rotated. The drive motors 21 are in the example shown arranged laterally of the drive rollers 20 and together with these supported on a pivot arm construction carrying a rotating member 14.
    When the gripper unit 11 is activated so that the rotating means 14 and the second set of grippers 13 are displaced axially in the direction of the drill string component 8, the drive rollers 20 are set in rotation for rotational drive of the engaging part 26. The lifting plug 25 is moved axially in the direction of the drill string component. The lifting part 27 is simultaneously the hob of said second set of grippers 13 to prevent rotation thereof and to prevent undesired rotation from propagating to the lifting wire.
    Thus, the first set of grippers 12 has gripped the end portion of the drill string component 8 'while the rotating means 14 has engaged with the engaging part of the lifting plug 25 and the second set of grippers 13 has engaged with the lifting part 27 of the lifting plug 25, after which the lifting plug 25 is released by rotational action of the rotating means 14.
    When the lifting plug 25 is pulled loose from (Fig. 1) the drill string component 8 ', it is pivoted through the pivot unit 18, which supports the gripper unit 11, provided from the first position in the direction of said second position. To allow this oscillation, the first set of grippers 12 has opened 12 while the rotating means 14 as well as the second set of grippers 13 are still in engagement with the lifting plug 25.
    In Fig. 3 it can be seen that said pivot unit 18 pivots the gripper unit 11 with held lifting plug 25 to the second position where the gripping position is oriented for cooperation with a drill string component 8 supported by the pivot arm 7 connected to said magazine 6. This determined position of the gripper unit 11 is ensured by that the alignment beam 19 mechanically stops the pivoting movement of the gripper unit 11 in said second position.
    Fig. 3 also shows that the pivot arm 7 has been pivoted up about a second pivot axis A2 to the delivery position, the alignment beam 19 correspondingly constituting a mechanical stop for the pivoting movement of the pivot arm 7 in the delivery position.
    Suitably, at least one of the pivot arm 7 and the gripper unit 11 in a respective distal region, opposite a region of the first and second pivot axis, respectively, bears a stop element (not shown) for alignment contact with the alignment beam, which here suitably has a special stop means (not shown) a metal plate, an abutment arm or the like. An example of a retaining arm for co-operation with the pivoting unit 18 supporting the gripper unit 11 is shown in Figs. 5a and 5b. At least one of said abutment elements and said abutment means is suitably adjustable for adjusting alignment position by suitable per se known distance adjusting means (not shown). On the pivot arm there is also a fork-shaped guide element 30 for lateral alignment of the pivot arm in the delivery position in that this fork-like circumference surrounds side edges of the alignment beam in the delivery position. Corresponding can be found on the alignment beam and also the gripper unit can be provided with or be subject to engagement with the corresponding control element. It will be appreciated that said first set of grippers 12 is in a position for gripping engagement with the drill string component 8 when it has reached said delivery position. The end of the drill string component 8 with a female thread located at the end of the drill string component 8 now placed in the delivery position then becomes accessible for gripping the gripper unit 11.
    The lifting plug 25 is simultaneously held by the rotary gripping means 14 constituting the rotary means 14 and the second set of grippers 13 and is then ready for joining with the drill string component 8.
    In order to compensate for the thread pitch at the entrance, a unit comprising the rotating means 14 and the second set of grippers 13 will also in this case be displaced axially in the direction of the drill string component 8 and the drive rollers rotated.
    After completion of threading of the male thread 26 'on the engaging part 26 (see Fig. 2) in the female thread in the drill string component 8, the first set of grippers 12 is released again as well as the rotating means 14 and the second set of grippers 13. As a result, the drill string component 8 is free to be lifted so that it, among other things, passes the position shown by a dotted line (8 ") and subsequently ends up in the position of the second drill string component along the" gripping position axis "indicated by G in Fig. 1.
    Before the drill string component 8 has been released from the grippers, it has been gripped in the area of the other end, opposite the end, which is joined by a lifting plug, by a guide gripper 41 hinged to a gripper trolley 40 at a joint 43, by a hydraulic cylinder. An embodiment of which is operated is shown in more detail in Fig. 4. Then the pivot arm 7 is lowered to the loading position (in Fig. 1) where it is out of the way of the movement of the gripper carriage 40. The alignment beam 19 has a longitudinal guide 42 for the drivably movable gripper carriage 40. The hinge 43 has a hinge axis substantially parallel to the first and second pivot axes A1 and A2 to allow pivoting in the same plane occupying the drill string position and the delivery position.
    The guide gripper is designed to, after gripping said drill string component 8, guide the free end thereof to control its movement during the lifting process and to guide this free end in alignment with the drill string position A in the rig. When the guide gripper is activated gripping a drill string component and the running gripper carriage, it is arranged so that the guide gripper follows the turning movement without being rotatably controlled separately. For alignment purposes to end up in the correct position for gripping a drill string component partly in the outer position, as shown in Fig. 3, partly in the inner position next to the feed beam, however, active rotational alignment of the guide gripper must take place around the axis 43 of the joint. This is conveniently provided by the gripper trolley being provided with a rotating member for the guide gripper 41, which rotary means may be in the form of a hydraulic cylinder or another type of rotary actuator of a per se known type acting between two end positions as above.
    Referring to Fig. 3, it can be seen that the gripper carriage 40 with its guide gripper 41 is in a first position (with solid lines) in a first, outer position of the alignment beam to grip there the first end region of the drill string component 8 intended for lifting, whose second end area is intended to be in threaded engagement with a lifting plug or the like for cooperation with said lifting winch.
    In a middle position, the gripping carriage component 8 'is more clearly shown in Fig. 7a the gripper carriage (with dashed lines indicated by reference numeral 40' in Figs. 1 and 3).
    The gripper trolley is also shown more clearly in Fig. 7b indicated by reference numeral 40 "'(with dashed lines in Fig. 3) in a second position in a second, inner position of the alignment beam next to the feed beam 2. Here it is arranged that aligning said gripped drill string component in the area of the drill string position with the gripper 41. Normally, such alignment can be made with a standard and movable guiding alignment aid (not shown here) arranged at the feed beam to guide the incoming lower end of a drill string component.
    The alignment beam is hingedly attached to a first hinge axis L1 adjacent to an area of the first pivot axis A1, which is preferably such that the first hinge axis L1 is coaxial with the first pivot axis A1. The alignment beam 19 is also hinged to a second hinge axis L2 adjacent to an area of the second pivot axis A2, which is preferably such that the second hinge axis L2 is coaxial with the second pivot axis A2.
    In this way, a sought-after reference for stopping the pivoting movements of both the pivot arm and the gripper unit can be obtained when setting up and when adjusting the rig in a simple manner without any complicated measuring methods or the like having to be applied since the alignment beam will automatically assume an adequate alignment. support (such as a magazine 6) for the alignment beam on the end thereof facing from the feed beam is anchored to a base.
    As can be seen and shown in the figures, the pivot arm as well as the gripper unit, in the embodiment shown and with the shown arrangement of the rock drilling rig, pivots in a vertical plane or at least in a plane which includes a shaft for the drill string position A in the rig, or in a plane is parallel to such a plane, the axes A1 and A2 being (substantially) horizontal. If there were a need to skew the feed beam laterally, it would of course be relevant to have a corresponding skew of the axes A1 and A2 resp. L1 and L2. It is thus preferred that the pivot arm 7 pivots in a vertical plane, or in a plane which includes an axis of the drill string position A in the rig, or in a plane parallel to such a plane, until it reaches the position where it is aligned by the alignment bar. However, it is not excluded that the pivot arm has a coupling to the alignment beam, which allows alignment in a variant where the pivot arm describes another movement, e.g. a combinatorial horizontal and vertical oscillating movement. A variant (not shown) with two hinge axes L2 'and L2 "extending, for example, at an angle to each other, is also not excluded. This could be of interest if, for eg handling reasons, there is a need to arrange the loading position differently than shown. on the figures.
    After placement and guidance of the new drill string component, it can be contracted with the drill string as described above.
    So far, the operational function of the handling device according to the invention in immersing a drill string after, for example, replacing a drill bit has been described. When picking up the drill string, in principle the opposite procedure takes place, namely tightening the lifting plug on a drill string component in the active drill string position, pulling up the lifting plug with the attached drill string to a position when the rotator device is arranged in a manner known per se. to detach the top drill string component from the subsequent drill string component.
    Thereafter, the drill string is further lifted so that the next drill string component with its end portion ends up in the position shown in Fig. 1, after which the gripper unit 11 enters and with the rotating means 14 grips the uppermost drill string component and with the first set of grippers 12 grips for purposes of alignment. the next drill string component ("the first") 10 15 20 25 30 17 in connection with the rotating means 14 being driven for controlled loosening of this drill string component.
    Thereafter, the thus detached drill string component is gripped by said guide gripper 41 and is moved by the movement of the gripper carriage 40 away from the feed beam 2 out of position parallel to the active drill string position with its lower end, while the lifting wire is slackened in a controlled manner, so that the drill string component finally ends up in the drain. Here it and the lifting plug can then be gripped by the gripper unit's gripper for threading out the latter. Lifting of the pivot arm 7 for receiving the drill string component now takes place, and when the threading is completed, the pivot arm can be lowered to remove the supported drill string component to a magazine or the like. Then the process can be repeated as many times as necessary.
    In Figs. 5a and 5b, for illustrative purposes, partial views are shown in the positions of the parts which correspond to Figs. 1 and Fig. 3, respectively, in perspective on an enlarged scale.
    44 denotes a support for a cable / wire chain belonging to the gripper trolley 40 (not shown). 7 'indicates V-shaped supports for a drill string component accommodated by the swing arm 7. 7 ”indicates a V-shaped alignment fork for drill string components arranged at the free end of the pivot arm.
    Fig. 6 schematically illustrates a method sequence comprising a method according to the invention for receiving a drill string in a rock drilling rig, for example for replacing a drill bit, wherein: Position 31 indicates the start sequence.
    Position 32 indicates retraction of the drill string to an uppermost position and ensuring that the rotator assembly is in its lowest position after it has detached the uppermost drill string component from the next drill string component. 10 15 20 25 30 18 Position 33 indicates swinging of the gripper unit to the first position.
    Position 34 indicates actuation of the first set of grippers for gripping an end portion of the lowest drill string component (8 'in Fig. 1) and of the rotary gripping unit for gripping an end portion of the uppermost drill string component (8 "indicated in Fig. 1). ).
    Position 35 indicates release of the top drill string component through the rotary gripper unit and then opening of all grippers of the gripper unit.
    Position 36 indicates removal of the loosened drill string component and placement thereof in a delivery position where it is supported on a pivot arm assisted by the guide gripper.
    Position 37 indicates pivoting of the gripper unit to the second position and gripping of the lifting plug and the end portion of the detached pivot arm for receiving the drill string component for loosening the lifting plug through the rotary gripping unit.
    Position 38 indicates pivoting of the pivot arm to the loading position for removal of the drill string component.
    Position 39 indicates the end of the sequence.
    This sequence is intended to be repeated as many times as necessary. Since it is instead a matter of immersing a drill string, for example after a replacement of the drill bit, the steps take place mainly in reverse order, which is described in detail against the background of the figures.
    The invention has been described in the light of a rock drilling rig for core drilling, but it is also applicable to other types of rigs such as those for oil drilling and the like.
    The invention can be modified within the definitions of the claims. The pivoting movements of the pivot arm and the gripper unit can take place in different ways through different types of and they can be attached to any other component than the feed beam of the rig itself. 10 15 20 19 The alignment beam can be fastened with hinge shaft pins, which are common elements with pins for said pivot shafts.
    The brackets to the rig / feed beam or support / magazine can be arranged with screwdrivers, welding, etc. The longitudinal guide can consist of external portions on the alignment beam, such as side edges of flanges for an H-beam, an I-beam or the like.
    The gripper trolley is suitably driven via a wire or the like by a drive motor. The gripper trolley can also support the drive motor, which acts against the alignment beam.
    The pivot arm can be designed in different ways and have different members of a kind known per se, such as of a gutter shape, fork shape, etc. for cooperation with a supported drill string component. For adaptation to different length drill string components, it is suitably provided with one of the support members 7 'or a groove on the pivot arm with adjustable or replaceable end stops.
    It is preferred that the gripper unit is provided with said first set of grippers for gripping said end portion of the first drill string component. However, it is not excluded that the first set of grippers is replaced by a control alignment device without a gripper function.
    权利要求:
    Claims (20)
    [1]
    Handling device for handling drill string components (8, 8 ', 8 ") at a rock drilling rig (1), which comprises a rotary device (4) movably reciprocally supported for rotation and drive of a drill string (2) , the handling device comprising a gripper unit (11) for gripping drill string components (8, 8 ', 8 "), which are to be inserted into and removed from an active drill string position (A) for the rock drilling rig, characterized in that the gripper unit (11) is supported pivotable around a first pivot axis (A1) arranged in the area of the feed beam between: a) a first position, aligned with said active drill string position (A), and b) a second position, aligned with a delivery position for drill string components, to be inserted into and removed from said active drill string position (A), the handling device comprising a pivot arm (7), which has support means (7 ') for supporting a drill string component, and which is pivotable about a second pivot axis (A2) between a load drilling string components and said delivery position, wherein an alignment beam (19) is attachable at its end regions adjacent to the respective area of the first and the second pivot axis (A1; A2), and wherein the alignment beam (19) forms a mechanical stop for both the gripper unit (II) ) in said second position as for the pivot arm (7) in the delivery position.
    [2]
    Handling device according to claim 1, characterized in that the alignment beam (19) is attachably hinged about a first hinge axis (L1) in connection with an area of the first pivot axis (A1). 10 15 20 25 30 21
    [3]
    Handling device according to claim 2, characterized in that the first hinge shaft (L1) is at least substantially coaxial with the first pivot shaft (A1).
    [4]
    Handling device according to one of the preceding claims, characterized in that the alignment beam (19) is attachable (L2) articulated around a second hinge axis in connection with an area of the second pivot axis (A2).
    [5]
    Handling device according to claim 4, characterized in that the second hinge axis (L2) is at least substantially coaxial with the second pivot axis (A2).
    [6]
    Handling device according to one of the preceding claims, characterized in that in the first position, the gripper unit (11) is positioned for engaging with an end portion of a first (8 ') (8 "). drill string component and an end portion of a second drill string component, respectively
    [7]
    Handling device according to any one of the preceding claims, characterized in that in the second position, the gripper unit (11) is positioned to engage aligned with an end portion of a drill string component to be inserted into or removed from said active drill string position (A).
    [8]
    Handling device according to one of the preceding claims, characterized in that the alignment beam (19) has a rectilinear extension.
    [9]
    Handling device according to one of the preceding claims, characterized in that the pivot arm (7) and / or the gripper unit (11) in a respective distal region, opposite an area of the respective pivot axis, have abutment elements for alignment contact with abutment means on the alignment beam (19) in said delivery mode.
    [10]
    Handling device according to any one of the preceding claims, characterized in that at least one of said abutment elements and said abutment means is adjustable for adjusting the alignment position.
    [11]
    11. ll. Handling device according to one of the preceding claims, characterized in that the pivot arm and / or the alignment beam have guide elements (30) for lateral alignment of the pivot arm in the delivery position.
    [12]
    Handling device according to one of the preceding claims, characterized in that the alignment beam (19) has a longitudinal guide (42) and a gripper trolley (40) which can be moved along the longitudinal guide, which has an articulated guide gripper (41) for gripping a first end region of a drill string component, the other end region of which is arranged to engage a lifting plug.
    [13]
    Handling device according to one of the preceding claims, characterized in that the pivot arm (7) as well as the gripper unit (11) are pivotable in a vertical plane or in a plane which includes a shaft for the active drill string position (A), or in a plane which is in parallel with such a plan.
    [14]
    Rock drilling rig including a rotator device (4) reciprocally supported for rotation and drive of a drill string, characterized by a feed beam (2), characterized in that it includes a handling device according to any one of claims 1 - 13. 10 15 20 25 30 23
    [15]
    A method for handling drill string components (8, 8 ', 8 ") at a rock drilling rig (1), wherein a drill string is rotated and driven by a rotator device (4) movably supported on a feed beam (2), the method comprising gripping of 8 "), drill string components (8, 8 ', which are to be inserted into and removed from an active drill string position (A) for the rock drilling rig with a gripper unit (11), characterized by - that the gripper unit (11) pivots about in the area of the feed beam arranged first pivot axis between: a) a first position, aligned with said active drill string position (A), and b) a second position, aligned with a delivery position for drill string components to be inserted into and removed from said active drill string position (A), wherein a pivot arm (7), which has support means for supporting a drill string component, is pivoted about a second pivot axis between a loading position for drill string components and said delivery position, and wherein an alignment beam (19) which is fixed r at its end areas adjacent to the respective area of the first and the second shaft, mechanically stops both the gripper unit in said second position and the pivot arm in the delivery position.
    [16]
    Method according to claim 15, characterized in that in the first position, the gripper unit engages with an end portion of a (8 ') first drill string component and an end portion of a second drill string component (8 "), and in the second position, engages with a end portion of a drill string component to be inserted into or removed from said active drill string position (A).
    [17]
    Method according to claim 15 or 16, characterized in that the pivot arm and / or the gripper unit make abutment with alignment contact with the alignment beam in said deflection position.
    [18]
    Method according to any one of claims 15 - 17, characterized in that at least one of said abutment elements and said abutment means are set for adjusting the alignment position.
    [19]
    Method according to one of Claims 15 to 18, characterized in that the abutment elements of the pivot arm and / or the abutment means on the alignment beam are guided relative to one another for lateral alignment of the pivot arm in the delivery position.
    [20]
    Method according to one of Claims 15 to 19, characterized in that the pivot arm (7) as well as the gripper unit (11) are pivoted in a vertical plane or in a plane which includes a shaft for the active drill string position (A), or in a plane which is parallel to such a plane.
    类似技术:
    公开号 | 公开日 | 专利标题
    SE1250728A1|2013-12-29|Device and method for handling drill string components and rock drilling rigs
    EP2558675B1|2019-11-27|Device and method for handling drill string components and drill rig
    KR102263335B1|2021-06-09|Device for handling drill string components and rock drill rig
    KR102277187B1|2021-07-13|Device for handling drill string components in respect of a rock drill rig and rock drill rig
    SE536563C2|2014-02-25|Device and method for handling drill string components and rock drilling rigs
    KR101907226B1|2018-12-07|Device and method for handling drill string components, as well as rock drilling rig
    WO2010046757A1|2010-04-29|Self-propelled drilling machine for core sampling
    AU2014296849A1|2016-02-25|Handling device for drill string component in respect of a rock drill rig and rock drill rig
    同族专利:
    公开号 | 公开日
    BR112014032291A2|2017-06-27|
    EP2867437B1|2019-05-15|
    KR102095609B1|2020-03-31|
    SE536564C2|2014-02-25|
    WO2014003647A1|2014-01-03|
    US9790752B2|2017-10-17|
    PE20150281A1|2015-02-19|
    CN104411913B|2016-09-07|
    CN104411913A|2015-03-11|
    ZA201408935B|2016-08-31|
    BR112014032291B1|2020-12-01|
    EP2867437A4|2016-06-15|
    US20150144402A1|2015-05-28|
    EP2867437A1|2015-05-06|
    KR20150031417A|2015-03-24|
    TR201908300T4|2019-06-21|
    CL2014003425A1|2015-04-06|
    AU2013281270B2|2016-12-22|
    AU2013281270A1|2015-01-15|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1250728A|SE536564C2|2012-06-28|2012-06-28|Device and method for handling drill string components and rock drilling rigs|SE1250728A| SE536564C2|2012-06-28|2012-06-28|Device and method for handling drill string components and rock drilling rigs|
    PCT/SE2013/050761| WO2014003647A1|2012-06-28|2013-06-25|Handling device and method for handling drill string components in rock drilling and rock drill rig|
    CN201380034682.1A| CN104411913B|2012-06-28|2013-06-25|For manipulating apparatus and method and the rock borer of drill string components in rock drilling|
    US14/407,797| US9790752B2|2012-06-28|2013-06-25|Handling device and method for handling drill string components in rock drilling and rock drill rig|
    EP13808711.9A| EP2867437B1|2012-06-28|2013-06-25|Handling device and method for handling drill string components in rock drilling and rock drill rig|
    PE2014002529A| PE20150281A1|2012-06-28|2013-06-25|HANDLING DEVICE AND METHOD FOR HANDLING COMPONENTS OF A DRILLING ROW WHEN DRILLING ROCK AND A ROCK DRILLING PLATFORM|
    AU2013281270A| AU2013281270B2|2012-06-28|2013-06-25|Handling device and method for handling drill string components in rock drilling and rock drill rig|
    BR112014032291-0A| BR112014032291B1|2012-06-28|2013-06-25|handling device, rock drilling rig, and method for handling drill rig components|
    KR1020147034982A| KR102095609B1|2012-06-28|2013-06-25|Handling device and method for handling drill string components in rock drilling and rock drill rig|
    TR2019/08300T| TR201908300T4|2012-06-28|2013-06-25|Manipulation device and method for manipulating drill string components in rock drilling, and rock drilling platform.|
    ZA2014/08935A| ZA201408935B|2012-06-28|2014-12-05|Handling device and method for handling drill string components in rock drilling and rock drill rig|
    CL2014003425A| CL2014003425A1|2012-06-28|2014-12-17|Handling device for manipulating drill string components with respect to a rock drilling rig that includes a rotary device that is movably held in the vaiven on a feed beam and being arranged to rotate and drive a drill string component ; rig; method.|
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