Device for handling drill string components to a drill string, method for handling drill string comp

专利摘要:
A handling device (5) at a rock drilling rig (1) for handling drill string components into a drill string, the handling device comprising a linear guide (6), a slide (7) movable along the linear guide (6), and - a gripper (8) supported by the slide, is movable between a drill string position located in the rock drilling rig and a delivery position located outside the rock drilling rig. The gripper (8) is supported by a pivot arm (21), which is rotatable about the first axis of rotation (V1). The pivot arm (21) is pivotable in relation to the carriage (7) about a second axis of rotation (V2). The pivot arm bracket (22) and the pivot arm (21) are pivotable about a third axis of rotation (V3) parallel to the linear guide for pivoting the gripper (8) into the drill string position. The invention also relates to a method and a rock drilling rig. Fig. 2
公开号:SE1251482A1
申请号:SE1251482
申请日:2012-12-21
公开日:2014-06-22
发明作者:Johan Lindberg
申请人:Atlas Copco Rocktech Ab；
IPC主号:

专利说明:

This is achieved in a handling device as above by the handling device including a linear guide for insertion in connection with and parallel to the feed beam, and a slide movable along the linear guide, that the gripper is supported by a pivot arm, which in turn is supported by the slide, that the pivot arm with supported gripper, in relation to a pivot arm bracket connected to the carriage, is rotatable by means of a first pivot about a first axis of rotation, which is parallel to and at a distance from an axis of a drill string component gripped by the gripper, that the pivot bracket, and thus the pivot arm supported gripper, by means of a second rotary member is pivotable in relation to the carriage about a second axis of rotation, which forms an angle with both the linear guide and the first axis of rotation, and that the pivot arm bracket and thus the swing arm with supported gripper by means of a third rotary member is pivotable about a third parallel to the linear guide axis of rotation for pivoting the gripper to the drill string end.
In this way a flexible handling device is achieved, which is able to carry out precise transfers of drill string components partly to the drill string position thanks to the combination of the design of the gripper with axially spaced gripper pairs and the extensive control possibilities offered by the three specially placed knobs. The rotation of the pivot arm about the first axis of rotation means, in addition to the gripper being able to be rotated, for example inwards and out of the drill string position, that the gripper can also be fine-tuned to grip a drill rod, the position of which differs slightly from an exact delivery position. A turning radius for a pivoting of a drill string component is also adaptable, for example to different sizes of feed beams, to which the invention is inserted.
Furthermore, it is allowed by the combination of pivotability and that the slide is displaceable along the linear guide that the delivery position can be easily varied in height for freedom to insert magazines of different sizes and heights, and so that even magazines with several horizontal levels can used in connection with the invention.
"Delivery mode" here means both a position for a drill string component to be gripped by the gripper (picking position) and a position for a drill string component to be released by the gripper (delivery position). Normally this can be a defined position in a magazine, but it can also be another specified position for a drill string component intended for gripping or releasing.
Preferably, the linear guide is a separate unit attachable to the feed beam. As a result, it can be inserted into a standard rig without any changes to the feed beam etc. having to be made. It can also be used on an existing rig without major modifications thereof. It should be noted, however, that within the scope of the invention it is possible to design the linear guide as a unit together with the feed beam.
Preferably, the third axis of rotation is located between the linear guide and attachment points intended for the feed beam therefor, said pivotability about the third axis of rotation parallel to the linear guide also comprising pivot drive of the linear guide. This makes it possible to achieve a large range of motion for the handling device and allows a higher degree of rigidity of components supported by the carriage compared with if the third axis of rotation is placed between the carriage and the gripper.
The gripper is particularly preferably supported axially displaceably drivable along a pivot arm, seen in an axial direction of a gripped drill string component. This has great advantages when it comes to positioning the gripper in the axial direction relative to a drill string component to be gripped. Not least in combination with the displaceability along the linear guide. Furthermore, the displaceability along the pivot arm allows increased possibilities for adapting a delivery position to drilling operation in different slopes of the feed beam and thus the linear control. Conveniently, this displacement along the pivot arm is realized by means of a hydraulic cylinder.
Preferably, a bracket for the second rotary device is fixedly connected to the carriage. It is further preferred that a first output shaft emanating from the first torque is fixedly connected to the pivot arm, and that a second output shaft emanating from the second torque is fixedly connected to a main part of the first torque. This enables a stable and compact construction.
It is preferred that the second axis of rotation forms a substantially right angle with both the linear guide and the first axis of rotation.
Suitably the linear guide has a linear drive for the carriage in the form of a chain drive or a hydraulic cylinder.
Preferably, the handling device also includes a magazine with support means for drill string components. These units can be tuned to each other in an advantageous manner to achieve co-tuning of movement patterns thereof.
The reservoir is suitably slidably connectable to the rock drilling rig, which is advantageous for adaptation to e.g. a current slope of the feed beam. In particular, the magazine is displaceable in directions parallel to shaft directions for drill string components accommodated in the magazine.
The magazine advantageously has support means in the form of component brackets in several levels, the component brackets on one level being removable for accessing drill string components on a lower level.
Suitably, said support means are arranged for receiving several drill string components at the same level, said support means being adjustable for inclination towards the delivery position as this is a picking position for the gripper and from the delivery position when this is a delivery position for the gripper.
The gripper preferably has a significant axial extent with respect to the length of a drill string component and preferably includes at least two axially spaced gripper pairs to obtain a stable grip of a drill string component for minimal swaying tendency.
The invention also relates to a method for handling drill string components for a drill string at a rock drilling rig, the method comprising: moving a slide along a linear guide insertable parallel to the feed beam, gripping a drill string component with a gripper supported by the slide and gripping means a drill string position located in the rock drilling rig and a delivery position located outside the rock drilling rig. The method further comprises: rotating the pivot arm with a supported gripper, in relation to a pivot arm bracket connected to the carriage about a first axis of rotation, which is parallel to and spaced from a shaft of a drill string component gripped by the gripper, pivoting the pivot arm bracket, with supported gripper, relative to the carriage about a second axis of rotation, which forms an angle with both the linear guide and the first axis of rotation, and pivoting of the pivot arm bracket, and thus the pivot arm with supported gripper, about a third axis of rotation parallel to the linear guide. drill string mode.
Advantages corresponding to what is related above to the device according to the invention are achieved by this method.
Features corresponding to subordinate device features according to the above are relevant in connection with the method according to the invention and entail corresponding advantages. 77414 20121121 10 15 20 25 30 The invention also relates to a rock drilling rig with a rotator which can be moved along a feed beam, comprising a handling device according to the invention.
The invention will now be described in more detail with reference to exemplary embodiments and with reference to the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS In the drawings: Fig. 1 shows a rock drilling rig equipped with a feed beam for a rock drilling machine and a linear guide for a device for handling drill string components, Fig. 2 shows the device for handling drill string components in Fig. 1. Fig. 3 shows an enlarged view of a detail of the device for handling drill string components on a larger scale, Fig. 4 shows the device in Fig. 2 in a different position, Fig. 5 schematically shows a block diagram of a sequence of a method according to the invention, and Figs. 6 a, b, c and d schematically show the movements of the device during a method sequence.
DESCRIPTION OF EMBODIMENT EXAMPLE Fig. 1 shows a mobile rock drilling rig 1, which is equipped with a feed beam 2, on which a (drilling machine) carriage 3 supporting a rock drilling machine 4 is reciprocable. Attached to the feed beam 2 is a device 5 for handling drill string components comprising a linear guide 6, on which a (handling) slide 7 with a gripper 8 is movable forwards and backwards. The device for handling drill string components 5 is arranged to handle drill string components, which are arranged in a magazine (not shown) for drill string components next to the rock drilling rig and successively place them in a drill string position for the rock drilling machine 4. The device for handling drill string components 5 is also arranged to successively remove drill string components place these in the magazine when picking up the drill string from a borehole, for example when it is relevant to change the drill bit.
Fig. 2 shows the linear guide 6 and the reciprocating slide 7, to which the gripper 8 is attached, which has two axially separated gripper pairs 9 seen in an axial direction of a gripped drill string component. The gripper 8 is supported axially displaceably drivable along a pivot arm 21, also seen in an axial direction of a gripped drill string component. The pivot arm 21 is connected to a pivot arm bracket 22 and is in turn, with supported gripper 8, and relative to the carriage 7, rotatable by means of a first pivot 11 about a first axis of rotation V1, which is parallel to and spaced from a shaft. A for a drill string component (not shown) gripped by the gripper.
Due to this rotatability, the position of the gripper can be fine-tuned laterally, for example before gripping a drill string component, in order to overcome unintentional deviation from an intended delivery position.
Through a second rotary motor 12, the pivot arm 21 with supported gripper 8, by means of a second rotary device 12, is pivotally drivable relative to a bracket 23 and the carriage 7 about a second axis of rotation V2, which forms an angle with both the linear guide 6 and the first axis of rotation V1. This rotatability means that the pivot arm 21 can be pivoted from a position where it is parallel to the linear guide 6 to positions for forming an angle between the pivot arm 21 and the linear guide 6.
The pivot arm bracket 22 and thus the pivot arm 21 with supported gripper 8 is further rotated by means of a third rotating device 15 about a third axis of rotation V3 parallel to the linear guide 6 for pivoting the gripper into the drill string position.
In this case, the third axis of rotation V3 is located between the linear guide 6 and fastening points intended for the feed beam 2, said pivotability about the third axis of rotation V3 parallel to the linear guide 6 also comprising pivot drive of the linear guide 6. The device 5 for handling drill string components is thus drop components. fixed to the feed beam 2 via a first bracket 13 and a second bracket 14. The linear guide 6 with supported carriage 7 (and components supported by the carriage) is rotatable relative to the brackets 13 and 14 and to the feed beam of a third rotary motor 15 about the third rotary shaft V3 .
The gripper 8 also has an axial stop 10 for a retained drill string component.
In the embodiment shown, the first axis of rotation V1 is perpendicular to the second axis of rotation V2, which in turn is perpendicular to the third axis of rotation V3. However, the second axis of rotation V2 is spaced apart and does not intersect either the first axis of rotation V1 or the third axis of rotation V3.
The carriage 7 further has a safety brake 16, which cooperates with a brake boom 17, which is arranged along the linear guide 6, and which has a brake surface on each side. The safety brake 16 in the example shown is a normally locked clamping brake, which in an unloaded position clamps against the brake boom 17 so that the carriage 7 with associated gripper 8 is locked in relation to the linear guide to prevent the carriage with the gripper, possibly with a hob, heavy drill string component, falls to a lower position, whereby a serious risk of injury to the operator and possibly other persons in the vicinity could arise.
The carriage 7 also has means for cooperating with a drive chain, which is indicated by dashed lines at 18.
This drive chain is driven by a drive device 19, which is partly shown in Fig. 2, for a movement forward and eats of the carriage 7 along the linear guide 6. The drive chain is laid in a loop so that it cooperates with the drive device 19 via a drive transmission 20 and a shown freely rotatable sprocket placed in the lower part of the linear guide 6, as shown in Fig. 2.
Fig. 3 shows the device at the carriage 7 on a larger scale and in a slightly changed perspective for the purpose of clarification.
The carriage has here been raised in an upper position near the first bracket 13. A hydraulic cylinder 48 is arranged along the pivot arm 21 for propelling and re-driving the gripper 8.
Fig. 4 shows the device 5 with the pivot arm 21 pivoted about the axis V2 so that it, together with the gripper 8, is in a horizontal position, normally suitable for gripping a drill string component. Because the slide 7 is displaceable upwards and downwards along the linear guide 6 and the gripper is displaceable along the pivot arm 21, the gripper can be adjusted both vertically and longitudinally to be correctly positioned to a drill string component to be gripped. In addition, the pivot around the shaft V1 provides a lateral adjustment option in the event this should be needed.
Fig. 5 shows a block diagram of a sequence of a method for handling and in this case gripping and inserting a drill string component into a drill string position according to the invention, wherein: Position 41 indicates the start of the sequence Position 42 indicates that the gripper with open gripper pairs 77414 20121121 10 10 30 is directed towards a drill string component in a delivery position in a magazine by rotating the pivot arm and possibly axial movement of the gripper thereon.
Position 43 indicates that the gripper is lowered to a gripping position where the gripper pairs by pivoting the pivot arm and / or displacing downwards the slide with supported gripper.
See Fig. 6a.
Position 44 indicates that the gripper pair of grippers is caused to grip the drill string component.
Position 45 indicates that the carriage with supported gripper is displaced upwards, the pivot arm is pivoted upwards to a position where it is substantially parallel to the linear guide. See Fig. 6b. The swivel arm is now turned so that the gripper is redirected cza 1800. See Fig. 6c.
Position 46 indicates that the third rotary actuator is activated to pivot the drill string component to the drill string position.
See Fig. 6d.
Position 47 indicates merging of the drill string component with a component belonging to the drill string by activating the rocker rig rotator, opening the gripper pair, removing the gripper from the drill string position and then terminating the sequence.
The various oscillating movements can in some cases take place overlapping and in reverse order, which will be appreciated by those skilled in the art.
In some cases, the drill string component needs to be axially relocated and gripped within the sequence step at position 44 to ensure that the end of the drill string component abuts an end stop associated with the gripper.
The invention can be varied within the scope of the following claims. The knobs can be arranged differently and with different mutual angles than what is shown in the figures.
It is possible to supplement the device according to the invention with an automatic control for locating, gripping and transferring drill string components between a drill string position in a rig and a magazine.
With reference to Fig. 6a, the handling device 5 suitably includes a magazine 99 with support means 98 for drill string components 100. The magazine is suitably slidably connectable to the rock drilling rig to facilitate positioning in different inclination positions of the feed beam. In particular, the magazine is suitably displaceable in directions parallel to shaft directions for drill string components accommodated in the magazine. In addition, it is preferred that the magazine has support means 98 in the form of component brackets in several levels and that the component brackets at one level are removable for accessing drill string components at a lower level, wherein said support means are suitably arranged for receiving several drill string components at the same level. said support means being adjustable for inclination towards the delivery position when this is a picking position for the gripper and from the delivery position when this is a dispensing position for the gripper. 77414 20121121

权利要求:
Claims (22)
[1]
Handling device (5) at a rock drilling rig (1) for handling drill string components to a drill string, which is drivable by a rotator (4) movable along a feed beam (2) of the rock drilling rig, wherein a gripping device (8) for gripping a drill string component is movable between a drill string position located in the rock drilling rig and a delivery position located outside the rock drilling rig, characterized in that the handling device includes a linear guide (6) for insertion in connection with and parallel to the feed beam (2); (7), - that the gripper (8) is supported by a pivot arm (21), which in turn is supported by the carriage, - that the pivot arm with supported gripper, in relation to a pivot arm bracket (22) connected to the carriage, is rotatable by means of of a first rotating member (11) about a first axis of rotation (V1), which is parallel to and spaced from an axis (A) of a drill string component gripped by the gripper, - to pivot The mounting bracket (22), and thus the pivot arm (21) with supported gripper (8), by means of a second rotary device (12) is pivotable in relation to the carriage (7) about a second axis of rotation (V2), which forms an angle with both - the guide (6) as the first axis of rotation (V1), and - that the pivot arm bracket (22) and thus the pivot arm (21) with supported gripper (8) by means of a third pivot (15) is pivotable about a third axis of rotation parallel to the linear guide (V3) for pivoting the gripper (8) to the drill string position. 77414 20121121 lO 15 20 25 30 13
[2]
Handling device according to Claim 1, characterized in that the linear guide (6) is a separate unit which can be fastened to the feed beam (2).
[3]
Handling device according to claim 2, characterized in that the third axis of rotation (V3) is located between the linear guide (6) and the attachment points intended for the feed beam thereof, said pivotability about the third axis of rotation (V3) parallel to the linear guide also comprising pivot driving 6 linearly. ).
[4]
Handling device according to one of Claims 1 to 3, characterized in that, seen in an axial direction of a gripped drill string component, the gripper (8) is supported axially displaceably drivable along the pivot arm (21).
[5]
Handling device according to one of Claims 1 to 4, characterized in that a bracket for the second rotary device is fixedly connected to the slide (7).
[6]
Handling device according to one of Claims 1 to 5, characterized in that a first output shaft emanating from the first rotary device (11) is fixedly connected to the pivot arm (21), and - that a second output shaft emanating from the second rotary device (12) is fixedly connected to a main body of the first actuator (11).
[7]
Handling device according to one of Claims 1 to 6, characterized in that the second axis of rotation (V2) forms a substantially right angle with both the linear guide (6) and the first axis of rotation (V1). 77414 20121121 10 15 20 25 30 14
[8]
Handling device according to one of Claims 1 to 7, characterized in that the linear guide (6) has a linear drive for the carriage (7).
[9]
Handling device according to one of Claims 1 to 8, characterized in that it also includes a magazine with support means for drill string components.
[10]
Handling device according to claim 9, characterized in that the magazine is slidably connectable to the rock drilling rig.
[11]
Handling device according to claim 10, characterized in that the magazine is displaceable in directions parallel to shaft directions for drill string components accommodated in the magazine.
[12]
Handling device according to one of Claims 9 to 11, characterized in that the magazine has support means in the form of component brackets in several levels and that the component brackets at one level are removable for accessing drill string components at a lower level. Handling device according to any one of the preceding claims, characterized in that said support means are arranged to receive several drill string components at the same level, said support means being adjustable for inclination towards the delivery position when this is a picking position for the gripper and from the delivery position when this is a delivery position for gripdonet.
[13]
Handling device according to one of the preceding claims, characterized in that seen in an axial direction of a gripped drill string component, the gripper (8) includes at least two axially spaced gripper pairs (9). 77414 20121121 10 15 20 25 30 15
[14]
A method for handling drill string components to a drill string at a rock drilling rig (1), which drill string is driven by a rotator (4) movable along a feed beam (2) of the rock drilling rig, the method comprising: - moving a carriage (7) along a linear guide (6) insertable in parallel with the feed beam, - gripping of a drill string component with a gripper (8) supported by the carriage, and - movement of the gripper (8) between a drill string position located in the rock drilling rig and an extraction vessel rotation of a pivot arm (21) supporting a gripper (8), relative to a pivot arm bracket (22) connected to the carriage about a first axis of rotation (V1), which is parallel to and spaced from an axis (A) of one of the grippers (8) gripped drill string component, - pivoting of the pivot arm bracket (22), and thus the pivot arm with supported gripper, relative to the carriage about a second axis of rotation (V2), which b firing angle with both the linear guide (6) and the first axis of rotation (V1), and - pivoting of the pivot arm bracket (22), and thus the pivot arm with supported gripper, about a third axis of rotation (V3) parallel to the linear guide for pivoting the gripper to the drill string position.
[15]
Method according to claim 14, characterized in that the oscillation about the third axis of rotation (V3) parallel to the linear guide also comprises oscillation of the linear guide (6). 77414 20121121 10 15 20 25 30 16
[16]
Method according to Claim 14 or 15, characterized in that the gripper (8) is displaced axially along a pivot arm (21), seen in an axial direction for a gripped drill string component.
[17]
Method according to one of Claims 14 to 16, characterized in that the second axis of rotation (V2) forms a substantially right angle with both the linear guide (6) and the first axis of rotation (V1).
[18]
Method according to one of Claims 14 to 17, characterized in that a magazine connected to the rock drilling rig is displaced relative to the rock drilling rig.
[19]
Method according to Claim 18, characterized in that the magazine is displaced in directions parallel to shaft directions for drill string components accommodated in the magazine.
[20]
Method according to one of Claims 14 to 19, characterized in that support means included in the magazine in the form of component brackets are arranged in several levels, the component brackets being removed at one level for access to drill string components at a lower level.
[21]
Method according to any one of claims 14 ~ 20, characterized in that said support means are arranged for receiving several drill string components at the same level, said support means being set for inclination towards the delivery position when this is a picking position for the gripper and from the delivery position when it is a delivery position of the gripper.
[22]
Rock drilling rig with a rotator movable along a feed beam, characterized in that the rock drilling rig comprises a handling device according to any one of claims 1 - 13. 77414 20121121

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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SE1251482A|SE536831C2|2012-12-21|2012-12-21|Device for handling drill string components to a drill string, method for handling drill string components with rock drilling rig|SE1251482A| SE536831C2|2012-12-21|2012-12-21|Device for handling drill string components to a drill string, method for handling drill string components with rock drilling rig|

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KR1020157017954A| KR102137297B1|2012-12-21|2013-11-22|Device for handling drill string components of a drill string, method for handling drill string components and rock drilling rig|

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CN201380066627.0A| CN104870742B|2012-12-21|2013-11-22|For handling the device of the upsilonstring components of drill string, for handling method and the rock drilling machine of upsilonstring components|

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US14/651,459| US10041312B2|2012-12-21|2013-11-22|Device for handling drill string components of a drill string, method for handling drill string components and rock drilling rig|

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BR112015014370-9A| BR112015014370B1|2012-12-21|2013-11-22|HANDLING DEVICE FOR A ROCK DRILLING EQUIPMENT, METHOD FOR HANDLING THE DRILLING COLUMN COMPONENTS OF A DRILLING COLUMN OF A ROCK DRILLING EQUIPMENT, AND, ROCK DRILLING EQUIPMENT|

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PCT/SE2013/051375| WO2014098708A1|2012-12-21|2013-11-22|Device for handling drill string components of a drill string, method for handling drill string components and rock drilling rig|

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AU2013364489A| AU2013364489B2|2012-12-21|2013-11-22|Device for handling drill string components of a drill string, method for handling drill string components and rock drilling rig|

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CA2894259A| CA2894259C|2012-12-21|2013-11-22|Device for handling drill string components of a drill string, method for handling drill string components and rock drilling rig|

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CL2015001512A| CL2015001512A1|2012-12-21|2015-06-04|Device for handling drill string elements of a drill string, method for handling drill string elements and rock drilling equipment.|

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FI20155495A| FI127097B|2012-12-21|2015-06-24|Device for handling drill string components of a drill string, method for handling drill string components and rock drilling equipment|