• 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:

    公开号:SE1251484A1
    申请号:SE1251484
    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:

    the construction in need of special details, which is expected to result in relatively high cost.
    As an example of pipe handling devices with grippers, which have two spaced apart gripping knobs, mention may be made of WO 2007/115375.
    OBJECTS AND MOST IMPORTANT CHARACTERISTICS OF THE INVENTION It is an object of the present invention to provide a gripper of the above kind, which addresses and at least alleviates the problems of the prior art. This is achieved in a gripping device of the type mentioned in the introduction in that the gripping elements are supported by and project from a side of a frame, that the gripping elements form at least one pair of gripping elements, at least one gripping element in a gripping element pair being pivotally movable about a pivot, between a closed position, constituting a gripping position, and an open position, that each movable gripping element is pivotable in a respective gripping plane, which forms a right angle with said axial direction, and that each movable gripping element is provided with an actuating portion, which cooperates with a direction parallel to said axial direction. movable wedge device for pivoting said movable gripping elements.
    The chosen solution provides the opportunity to design the gripper very robust and in such a way that a very large force can be applied to a gripped drill string component. The invention also results in significantly improved precision so that the connection to a drill string present in a drilling rig is simplified and accelerated. In addition, the gripper can be made compact, so that it can be used in places where other types of grippers cannot be used for space reasons. Furthermore, the gripper can be designed so that it becomes strong, secure and can grip and deliver gripped boss string components with great precision. 77319; 2012-12-21 10 15 20 25 30 It is preferred that each movable gripping element is designed with the pivot joint intermediate an engaging portion for co-operation with a gripped drill string component and the actuating portion.
    It is also preferred that the actuating portion is articulated connected to a contact jaw, which abuts against the wedge device.
    The contact jaw can be provided with a sliding surface suitably designed for cooperation with the wedge device. This solution provides a desired good surface contact with and thus power transmission from the wedge device for all angular positions of the gripping element.
    Suitably a spring device is arranged in the body for actuating said movable gripping elements towards the open position.
    This ensures that the gripping elements open as intended without, for example, having to be forcibly guided in an opening direction.
    It is preferred that at least two pairs of gripping elements for gripping a drill string component are spaced apart on the body. By this is meant that the pairs of gripping element are arranged at a distance from each other in a direction parallel to an axial direction of a gripped drill string component to ensure increased stability in the gripping position and increased precision in handling.
    It is preferred that said wedge device is connected to a hydraulic cylinder, suitably each pair of gripping elements is operated by a separate wedge device, which is connected to a separately associated hydraulic cylinder. However, it is also possible for both pairs of gripping element to be operated by a common wedge device, which is connected to an associated hydraulic cylinder.
    Preferably, each hydraulic cylinder is equipped with a hydraulic lock, which prevents movement of the hydraulic cylinder in the event of a loss of hydraulic pressure in connecting hydraulic lines.
    This prevents the gripper from failing with a dropped drill string component as a result. 77319; 2012-12-21 lO 15 20 25 30 In principle, however, the wedge mechanism can be designed to be self-inhibiting, ie. that an active activation is needed in the opening direction of the wedge mechanism and that in the absence of activation the gripper becomes self-reading. This is an important safety aspect, which prevents a drill string component from being dropped in the event of a power failure or other type of breakdown.
    The wedge device is preferably linearly controlled between fixed guide elements arranged in the frame for ensuring predictable gripping element movements.
    Most preferably, both gripping elements in each gripping element pair are pivotally movable gripping elements, and in this case the wedge device suitably has two wedge surfaces facing in different directions for co-operation with the movable gripping elements in a pair of gripping element.
    It is suitable for the frame to have a protective cover for enclosing the respective impact portion and associated movable wedge device to reduce the risk of penetration of dirt etc.
    The invention also relates to a method for operating a gripper according to the above to a drill string component handler at a rock drilling rig, wherein each movable gripping element pivots in a respective gripping plane, which forms a right angle with said axial direction, and wherein a biasing portion on each movable gripping element cooperates with a directions parallel to said axial direction movable wedge device for pivoting said gripping element.
    Preferred features of the gripper are also applicable to variants of the injunction.
    The invention further relates to a drill string component handler for a rock drilling rig, including an inventive gripper for gripping drill string components, a transfer mechanism which can be attached to the rock drilling rig and supports the gripper. 77319; 2012-12-21 10 15 20 25 30 The invention also relates to a rock drilling rig including such a drill string component handler.
    Further features and advantages of the invention will become apparent from the following detailed description.
    BRIEF DESCRIPTION OF THE DRAWINGS The invention will now be described in more detail with reference to exemplary embodiments and with reference to the drawings, in which: Fig. 1 shows a rock drilling rig with a drill string component handler equipped with a gripper according to the invention, Fig. 2 shows a drill string component with gripper component according to the invention, Fig. 3 shows in detail a gripper according to the invention in a disassembled perspective view, Figs. 4a and 4b show a detail of the gripper in Fig. 2 in different views, and Fig. 5 schematically illustrates a method sequence according to the invention.
    DESCRIPTION OF EMBODIMENTS Fig. 1 shows a rock drilling rig for exploration drilling, in which case a large number of drill string components are normally handled during drilling. Exploration drilling normally takes place at great or very great depths, which is why at regular intervals the entire drill string must be taken up to the surface for replacement of the drill bit.
    In this process, the individual drill string components included in the drill string must first be detached from the drill string, moved from the drilling rig and placed in a magazine until the last drill string component has been taken out of the borehole. Thereafter, the drill bit is replaced, after which the drill string is successively reassembled by the drill string components 77319; 2012-12-21 10 15 20 25 30 one by one the drill string is added until the previous depth is reached, after which drilling can take place further than a certain length, after which the procedure as above must be repeated.
    Exploration drilling takes place basically according to two principles, namely by core drilling and so-called RC drilling.
    During core drilling, a pre-drilled core of the rock material is picked up at regular intervals from the borehole. During RC drilling or RC exploration (RC means Reverse Circulation), loosened drill cuttings are continuously flushed out of the hole during drilling. The drill cuttings are then taken care of on the surface, stored continuously so that it becomes available for investigation and can be related to the drilling depth where it was loosened.
    RC drilling exploration typically takes place at less depth than core drilling exploration.
    The present invention is applicable to drilling rigs for both of these types of exploration drilling.
    The handling device fastened to the feed beam of the rig in Fig. 2 comprises a linear guide L, on which a slide S is drivably displaceable. Via the rotary actuators not further described here, a pivot arm A is pivotable and rotatable in order to be able to be positioned to be able to grip, move and release a drill string component in a drill string position in the rig and a delivery position in a magazine or in another external position.
    Fig. 3 shows that the gripping device 1 comprises an elongate body 2, which supports gripping pairs of gripping elements in the form of two gripping claws 3, 4 and 3 ', 4'. These gripping beats are arranged at a distance from each other seen in an axial direction R of a gripped (indicated by dashed lines) drill string component 6. The axial separation of the gripping element pair / gripper means a stable handling and that the movements of the long, heavy drill string components can be controlled on an advantageous way. The gripper 3, 4 and 3 ', 4' project from a 77319; 2012-12-21 10 15 20 25 30 side 5 of the elongate body 2 and in the embodiment shown, in each gripping claw both gripping claws in the pair are pivotally movable (indicated by double arrows) in a gripping plane, which forms a right angle with said axial direction R .
    The gripping clappers are operable between a closed position, which is a gripping position for gripping the drill string component 6 and an open position, which means that the gripping claws are pivoted apart so that a gripped drill string component is released and can be inserted between the gripping claws and then gripped.
    Each movable gripping claw 3, 4, 3 ', 4' is provided with an actuating portion 8, which cooperates with a wedge device 9, 9 '. The wedge device 9 is movable in directions parallel to said axial direction R.
    Furthermore, the actuating portion 8 of each gripping claw is hingedly connected to a contact jaw 11, which in turn is arranged to abut against the wedge device 9, and which for that reason has a contact surface in the form of a sliding guide, the surface of which extends at an angle to conform to a angle of a cooperating wedge surface of the wedge device 9.
    Each contact jaw 8 is connected via a hinge pin 12 (two indicated) to an end part constituting the actuating portion 8 of the respective gripping claw so that a movement of the wedge 9 initiates a corresponding movement of the contact jaw 11, of the actuating portion 8 and thus of an engaging portion 10 a gripped drill string component cooperating surface of each gripping claw.
    The pivoting of gripping clone 3, 4, 3 ', 4' takes place around a respective pivot joint 7 constituted by a pivot pin arranged in a pivot seat seat intended for this purpose on said side 5 of the body.
    Denoted by 14 is a spring device which is secured in the body and which forces the movable gripping claws 3, 4 in the direction of the open position. To be more certain, the spring device 14 consists of a scissor-shaped spring, whose 77319; 20l2 ~ 12-2l 10 15 20 25 30 legs engage with pins or screws or the like arranged on the extreme ends of the respective gripping actuating portion 8.
    The wedge devices 9, 9 'are each operated by a hydraulic cylinder 15, 15' for their reciprocating movements. Each hydraulic cylinder 15, 15 'is preferably equipped with a hydraulic lock 16, 16', which allows hydraulic oil passage and thus only allows movement of the hydraulic cylinder 15 in the presence of hydraulic pressure in connecting hydraulic lines and interrupts hydraulic oil passage and thus prevents movement in the event of failure. hydraulic pressure.
    The wedge device 9 is linearly guided in the body 2 by guide elements 17 in the form of hat-shaped elements placed on either side of the wedge device. The guide elements provide a lateral as well as a vertical guide of the wedge device.
    Figs. 4a and 4b show a gripping claw according to Fig. 3 exposed from the frame 5 and others. components for the sake of clarity.
    In addition to the above description of Fig. 3, which is also fully readable towards Figs. 4a and 4b, it is clearer from these figures fastening profiles 18 for the pivot joints 7 constituted by a respective pivot pin. 19 indicates a bracket on the wedge device 9 for a piston rod belonging to the hydraulic cylinder 15. Denoted by 20 are sliding cushions attached to the underside of the wedge device 9 to facilitate sliding against a slideway in the body. 21 indicates screws for co-operation with folded free ends of the spring 14 for opening action of the gripping claws 3 and 4.
    Block diagram in Pig. 5 schematically illustrates a method sequence according to the invention, wherein: Position 22 indicates the start of the sequence.
    Position 23 indicates positioning of the gripper with open gripper beats prior to gripping a drill string component.
    Position 24 indicates that at least one pivotally movable gripping claw in the two gripping claws is pivoted about a pivot joint from 77319; 2012-12-21 10 15 20 25 30 the open position to a closed position controlled by a respective wedge device for gripping the drill string component.
    Position 25 indicates placement of the drill string component for addition to a drill string in a rock drilling machine.
    Position 27 indicates that said movable gripping claw is actuated against the open position by a spring device arranged in the body in connection with retraction of the respective wedge device.
    Position 27 indicates return to a starting position and the end of the sequence.
    The invention can be modified within the scope of the claims.
    Thus, each gripping claw may comprise a movable and a fixed gripping claw, in which case a one-sided wedge device becomes necessary. However, the movable gripping clone normally needs to be given a relatively significant oscillating movement in this context in order to allow suitable opening of the gripping claw pair, which means that a longer wedge movement may be relevant in this variant. It is also possible to provide a single wedge device provided with two separated wedge surfaces, which thus extends over a large part of the length of the body for operating both gripper knockers, and which wedge device is in that case suitably driven by a hydraulic cylinder.
    The gripping elements are suitably gripping claws but can also be differently designed gripping elements, such as gripping elements equipped with flat abutment plates or the like. It is preferred that at least two gripping element pairs are arranged, separated from each other, but it is not excluded that a single gripping element pair is arranged, which may possibly be assisted by guide portions arranged on the body, against which a drill string component is pressed by the gripping element pair in gripping position to ensure stability. in this grip position. However, a solution with a single pair of gripping elements is not preferred. 77319; 2012-12-21 10 10 The term "gripping element pair" is to be interpreted as referring to a unit comprising a first, movable, gripping element and a second, fixed or movable second gripping element, which may consist of a similar element, as the first gripping element or a different design element. An embodiment is e.g. possible, wherein the second gripping element is divided into two axially separated abutment elements. Another embodiment is also possible, wherein one or both gripping elements in a pair have an elongate strip shape, etc. 77319; 2012-12-21
    权利要求:
    Claims (21)
    [1]
    A gripper (1) for a drill string component handler at a rock drilling rig, the gripper (1) comprising: - gripping elements (3-4; 3'-4 ') for engaging a drill string component, which has an axial direction (R), characterized in that - the gripping elements (3-4; 3'-4 ') are supported by and project from one side of a body (5), - that the gripping elements (3-4; 3'-4') form at least one gripping element. element pair, wherein at least one gripping element in a pair of gripping elements is pivotally movable about a pivot joint (7), between a closed position, constituting gripping position, and an open position, - that each movable gripping element (3,4,3 ', 4') is pivotable in a respective gripping plane, which forms a right angle with said axial direction (R), and - that each movable gripping element (3,4,3 ', 4') is provided with a bearing portion (8), which cooperates with a directions parallel to said axial direction (R) movable wedge device (9,9 ') for pivoting said movable gripping elements (3,4,3 ", 4").
    [2]
    Gripper according to claim 1, characterized in that each movable gripper element (3,4,3 ', 4') is formed with the pivot joint (7) intermediate an engaging portion (10) for co-operation with a gripped drill string component (6) and the impact portion. (8).
    [3]
    Grip device according to Claim 1 or 2, characterized in that the actuating portion (8) is articulated and connected to a contact jaw (11), which abuts against the wedge device (9, 9 '). 77319; 2012-12-21 10 15 20 25 30 12
    [4]
    Gripper according to any one of the preceding claims, characterized in that a spring device (14) is arranged in the body (5) for actuating said movable gripping element (3,4,3 ', 4') against the open position.
    [5]
    Gripper according to one of the preceding claims, characterized in that at least two pairs of gripping elements (3-4; 3 '~ 4 ") for gripping a drill string component are arranged at a distance from each other on the body.
    [6]
    Grip device according to any one of the preceding claims, characterized in that said wedge device (9, 9 ') is coupled to a hydraulic cylinder (15, 15').
    [7]
    Gripper according to claim 6, characterized in that each pair of gripping elements (3-4; 3'-4 ') is arranged to be operated by a separate wedge device (9,9'), which is connected to a separately associated hydraulic cylinder (15 , l5 ').
    [8]
    Gripper according to claim 6, when at least two gripper element pairs (3-4; 3'-4 ') are arranged, characterized in that all gripper element pairs (3-4; 3'-4') are operated by a common wedge device, which is connected to an associated hydraulic cylinder.
    [9]
    Gripper according to one of Claims 5 to 8, characterized in that each hydraulic cylinder (15, 15 ') is equipped with a hydraulic lock (16, 16'), which prevents movement of the hydraulic cylinder in the event of loss of hydraulic pressure in connecting hydraulic lines.
    [10]
    Grip device according to one of the preceding claims, characterized in that the wedge device (9, 9 ') is linearly guided between fixed guide elements (17) arranged in the body. 77319; 2012-12-21 10 15 20 25 30 13
    [11]
    11. ll. Gripping device according to one of the preceding claims, characterized in that - both gripping elements (3,4,3 ', 4') in each gripping element pair (3-4; 3'-4 ") are pivotally movable gripping elements, and - that the wedge device (9) , 9 ') has two wedge surfaces facing in different directions for co-operation with the movable gripping elements in a pair of gripping elements (3-4; 3'-4 ").
    [12]
    Grip device according to one of the preceding claims, characterized in that the body (5) has a protective cover for enclosing the respective actuating portion and associated movable wedge device.
    [13]
    A method for operating a gripper (1) to a drill string component handler at a rock drilling rig, the gripper comprising: - gripping elements (3-4; 3'-4 ') for engaging a drill string component, which has an axial direction (R ), the gripping elements (3-4; 3'-4 ') being supported by and projecting from one side of a body (5), and the gripping elements (3 ~ 4; 3'-4') forming at least one pair of gripping elements, wherein at least a gripping element in a pair of gripping elements is pivotally movable about a pivot joint (7), between a closed position, constituting a gripping position, and an open position, - in each gripping element pair (3 ~ 4; 3'-4 ') at least one pivotally movable gripping elements (3,4,3 ", 4 ') are pivoted about a pivot joint, between a closed position, constituting a gripping position, and an open position, - each movable gripping element being pivoted in a respective gripping plane, which forms a right angle with said axial direction ( R), and - wherein an actuating portion (8) on each movable gripping element cooperates with one in directions parallel to mnda axiella 77319; 2012-12-21 10 15 20 25 30 14 direction movable wedge device (9.9 ') for pivoting said movable gripping element (3,4,3', 4 ”).
    [14]
    Method according to Claim 14, characterized in that a contact jaw (11) connected to the actuating portion (8) abuts against the wedge device (9, 9 ').
    [15]
    Method according to claim 13 or 14, characterized in that said movable gripping element (3,4,3 ', 4') is actuated against the open position by a spring device (14) arranged in the body (5).
    [16]
    Method according to any one of claims 13 - 15, characterized in that said wedge device (9,9 ') is driven by a hydraulic cylinder (15,15').
    [17]
    Method according to one of Claims 12 to 16, characterized in that the drill string component is gripped by at least two gripping element pairs (3-4; 3'-4 ") arranged at a distance from one another on the body.
    [18]
    Method according to claim 17, characterized in that each pair of gripping element (3-4; 3'-4 ') is operated by a separate wedge device, (9,9') which is driven by a separately associated hydraulic cylinder (15,15 ').
    [19]
    Method according to one of Claims 13 to 18, characterized in that - both gripping elements (3,4,3 ', 4') in each pair of gripping elements are pivoted, and - in the wedge device (9,9 ') cooperating with the movable gripping elements. in a pair of gripping elements through two wedge surfaces facing in different directions.
    [20]
    A drill string component handler for a rock drilling rig including a gripper for gripping drill string components, 77319; 2012-12-21 15 and a transfer mechanism which can be attached to the rock drilling rig and supports the gripper, characterized in that the gripper is designed according to one of claims 1 - 12.
    [21]
    Rock drilling rig including a drill string component handler according to claim 20. 77319; 2012-12-21
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    同族专利:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
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    AU2013364449A| AU2013364449B2|2012-12-21|2013-12-06|Gripper for a drill string component handling device, method for manoeuvring a gripper, drill string component device and rock drill rig|
    KR1020157019522A| KR102126601B1|2012-12-21|2013-12-06|Gripper for drill string component handling device, method for manoeuvring a gripper, drill string component device and rock drill rig|
    BR112015014513-2A| BR112015014513B1|2012-12-21|2013-12-06|DRILLING COLUMN COMPONENT HANDLING AND HANDLING DEVICES FOR A ROCK DRILLING EQUIPMENT, METHOD FOR MANEUVERING A HOLDING DEVICE, AND, ROCK DRILLING EQUIPMENT|
    FI20155496A| FI129089B|2012-12-21|2013-12-06|Gripper for a drill string component handling device, method for manoeuvring a gripper, drill string component device and rock drill rig|
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    CL2015001513A| CL2015001513A1|2012-12-21|2015-06-04|Clamping device for a device for handling elements of a drill string, includes gripping elements supported by and protruding from one side of the body, where at least one gripping element in a pair of elements is pivotally movable around a pivot joint; method; and device for handling elements of a string.|
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