• 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 drilling machine (1) for driving a drill string (8), the drilling machine comprising: a drive head (6) movable in an axial direction towards and from a holding table (5) for axial driving of the drill string (8), a rotator (9) for driving the drill string (8), a drill string chuck (10), a first key gripper (11) at the holding table (5), a second key gripper (12) at the rotator (9). A first sensor arrangement (13) for sensing a first rotational position of a key grip (14) on a drill string component (7) is arranged at the holding table (5). A second sensor arrangement (15) is arranged for sensing a second rotational position of the second key grip device ( 12), and a memory (17) is provided for storing data representing the second rotary position. The invention also relates to a method. 2
    公开号:SE1550253A1
    申请号:SE1550253
    申请日:2015-03-04
    公开日:2016-09-05
    发明作者:Jormvik Fredrik；Riisom Jörgen；Nilsson Anders；FRANZÉN Mikael；STRÅTH Andreas
    申请人:Atlas Copco Rock Drills Ab；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The invention relates to a drilling machine for driving a drill string, the drilling machine comprising: a drive head movable in uniaxial direction towards and from a holding table for axial drive of the drill string to the root drive wire for the root drive rod. drill string chuck, a first key gripper arranged in connection with the tumbler table, a second key gripper arranged in connection with the rotator. The invention also relates to a corresponding method.
    BACKGROUND OF THE INVENTION It is known to perform conventional riser drilling and upward ascent as well as downward drilling drilling with diameters up to over six meters. The technology is used, among other things. a. in connection with road and water construction, the indoor mining industry for drilling shafts for ventilation, drainage, drainage sites, backfill and feeding holes, slot holes as well as for inlet pipes for hydropower plants.
    For reaming drilling, a pilot hole is first drilled in the direction of the drilling machine to an accessible space, in which a reaming drill bit is attached to the free end of the drilling string. Then the reaming drilling takes place by the drill bit being driven during rotation in the direction of the drilling machine, whereby the drill bit breaks the rock. During the process, comprehensive handling of drill string components / drill pipes takes place, which when driven from the drilling machine is gradually added to the drill string and when driven towards the drilling machine is gradually detached and removed from the drill string. Conventional drilling of this kind takes place under the manual supervision of an operator.
    In order to be able to loosen a drill pipe during the reaming process, which in its entirety is located above the drilling machine's holding table, the drill string is secured at the holding table.
    This is done by the operator correctly positioning a key grip on the drill string component for engaging a key gripper, which is usually referred to as a "table key grip", at the holding table. Thereafter, the thread engagement between the rotator drill string chuck and the top drill string component can be broken by reversing the rotator. The rest of the drill string is now rotationally locked by the first key grip.
    Thereafter, the operator takes new measures so that an additional key gripper, in the area of the drive head, can be shaken to engage with drill string component key grips for breaking and threading the thread between this upper drill string component and the remaining drill string.
    The loosened drill string component is then moved from the drill string position to a component bearing.
    The drive head is then moved axially with its rotator and drill string chuck to engage the threaded member of the now uppermost component of the drill string, which is still locked by the first key gripper arranged at the holding table.
    After detaching the drill string from the first key gripper, the process of continued clearance drive continues. When the next drill string component has reached a position above the holding table, the above sequence is repeated.
    The described method is time, precision and labor intensive, which together results in a lengthy and thereby costly drilling process.
    EP 2 487 325 A2 describes a system for machine positioning and attachment of key devices in a raise boring machine. WO20144 / 133440 relates to a method and a drilling arrangement for holding drill string means. OBJECTS AND MOST IMPORTANT CHARACTERISTICS OF THE INVENTION It is an object of the present invention to provide a drilling machine of the above kind, which addresses and at least alleviates the problems of the prior art.
    This is achieved in a drilling machine of the initially defined type in that it comprises a first sensor arrangement arranged in the area of the holding table for sensing a first rotational position for a key grip on a drill string component, a second sensor arrangement for sensing a second rotating position for a second ring and a second ring. the second rotary position.
    These features make it possible to sense a first rotary position relative to the holding table for a key grip on a drill string component and to enable rotation of the drill string to a correct rotational position for engagement with the first key gripper. Furthermore, based on said storage data, automatically calculate and relate the rotational position of the second key gripper to a key grip of the upper drill string component in a drill string, which enables more efficient drill string handling in connection with a clearing process, when the drill string components are successively drilled.
    The second key gripper is coupled to the co-rotator / drill string chuck to be rotatable therewith for loosening the lower thread at the first key gripper initiated.
    Particularly preferably, a calculation unit is arranged for determining, from said stored data representing the second wide position, an angle between the second rotational position and a rotational position of the first key gripper and thereby an angle between the second wide position and said key grip. This allows full automation of the handling process during reaming drilling by the drilling machine system being able to calculate the required rotational position to enable the deployment of the second key gripper.
    It is preferred that the second sensor arrangement comprises at least one sensor on the drive head, which is arranged to cooperate with at least one sensing indicator in connection with the second key grip device. In particular, it is preferred that said second sensor arrangement includes at least one sensor from the group: optical sensor, inductive sensor, capacitive sensor, Hall effect sensor, magnetostrictive sensor and purely mechanical rotation sensing sensor. This sensor is arranged to cooperate with a sensing indicator and preferably a plurality of sensing indicators, each in accordance with the selected sensor principle consisting of a contrast marking, a heel, a recess, an element with deviating technical properties, such as a magnet or an element of magnetizable material, etc.
    In the case of the first sensor arrangement, this preferably in a simple embodiment comprises at least one light generator and an optical sensor, positioned so that a single light beam or light beams therebetween have free passage when the key grip is in the correct height and rotation position. When no key grip is in the correct height and rotation position, the light beam is interrupted in between.
    It can be mentioned that this refers to such key grips, which suitably consist of incorporated recesses in the goods in the outer limiting surfaces of the circular-cylindrical tubular drill string elements for forming at least a pair of substantially flat parallel key grip surfaces. The second sensor arrangement is preferably arranged to sense the second rotational position of the second key gripper in a state of uninitiated tightening connection between the drill string chuck and an upper thread of a single drill string component held by the first key gripper. As a result, a direct relationship in the form of said angle between the second wide position and said key grip held by the first key gripper can be obtained, so that sources of error resulting from calculation needs can be avoided.
    In this case, the drilling machine is preferably arranged to first establish the tightening connection with said drill string chuck with said upper thread component of a drill string component, which is held by the first key gripper, by pulling to a contact position, from which angle is returned to an angular string. key grip and the second key grip are now calculated. This calculated angle difference is now stored in memory.
    Achieving the contact position is ascertained when a threshold torque value is reached and attainment of the tightening thread position is ascertained when a final torque value is reached. The final torque value is calculated so that no significant additional tightening takes place during a subsequent clearance operation.
    The drilling machine is further preferably arranged to initiate the first key gripper to engage with a key grip on the next drill string component after a run-through clearance operation corresponding to the length of a contracted drill string component and to initiate breaking of said upper thread between the retracted drill string drill string. This is accomplished by reversing the rotator while the next drill string component is rotationally locked by the first key gripper.
    The drilling machine is further advantageously arranged to then connect the second key gripper to the upper key grip of the drill bit component and reverse the rotator to break the thread between that drill string component and the next drill string component.
    In that the drilling machine is preferably arranged in connection with the breaking of said upper thread between the contracted drill string component and the drill string chuck after the breaking first pulls the thread until the contact position is reached, which as above is detected by reaching the threshold torque value. Thereafter, the drill string chuck angle A is rotated (reversed) until the angle is reached, which is calculated as the deviation of the upper key grip device from the upper key grip.
    The rotation by re-rotation is thereby performed at such an angle that it is in principle possible for the second key gripper to come into alignment with the key grip in question in order to quickly find engagement therewith during engagement initiation.
    In the event that the attempt to connect the second key gripper to this key grip would fail for any reason, a search sequence is performed with a search pattern back and forth during small but increasing angles of rotation of the rotator to find a correct connection position. In the event of unsuccessful initiation of the second key gripper, even after the search sequence has been completed, a signal is emitted, which means that manual assistance needs to be inserted.
    The drilling machine preferably includes a drill string component handler including a gripper gripping and a control arm for moving a loosened drill string component. This gripper and this control arm are also advantageously automatically controllable for minimizing the need for personnel efforts.
    It is preferred that the gripper has a rotation sensor such as a sensing roller for sensing rotation of a single-stranded string component. In this way, by applying the sensing roller to the drill string component, it can be ascertained if a one-time break of the upper thread has taken place which is intended by the rotator and when the rotation sensor is verified that the drill string component does not co-rotate.
    It is a significant advantage that the first key gripper is arranged slidably and permanently rotatably connected to the holding table. The first key gripper is in this case preferably arranged linearly displaceable between an inactive position and an active position, which is an engaging position for engaging with a key grip. . The displaceability is conveniently provided by a pair of hydraulic cylinders.
    Because both the second key gripper and the drill string chuck are permanently connected to the rotator in order to be rotatable together, advantages such as simplified rotational drive connection between the units and structural simplicity are achieved.
    The invention also relates to a method for handling drill string components in a drilling machine for driving a single drill string, the method comprising: axial drive of the drill string with a drive head movable in an axial direction towards and from a retaining table, rotational drive of the drill string with a rotary head attached to the drive head. for a key grip on a 10 drill string component by a first sensor arrangement, which is arranged at, (or in connection with) a first key gripper arranged on or in connection with the holding table, rotation of the drill string until the key gripper is aligned with the first key grip gripper of the first key grip means . The method is characterized by sensing a second rotary position of a second key gripper arranged in connection with the rotator by a second sensor arrangement, and storing the data representing the second rotary position in a memory.
    The method as above preferably includes sensing the second rotational position of the second key gripper by means of at least one sensor on the drive head arranged to cooperate with at least one sensing indicator in connection with the second key gripper.
    Said second rotational position is preferably sensed by at least one sensor from the group: optical sensor, inductive sensor, capacitive sensor, Hall effect sensor, magnetostrictive sensor and purely mechanical rotation sensing sensor.
    Based on said data representing the second wide position, an angle between the second turning position and a turning position of the first key grip device is thereby advantageously determined, thereby an angle between the second wide position and said key grip.
    The second rotational position of the second key gripper is suitably sensed in a state of uninitiated tightening connection between the drill string chuck and an upper thread of a drill string component which is held by the first key gripper.
    After loosening the first key grip, a clearing operation is then performed. The tightening connection is preferably established with said upper thread of a drill string component, which is held by the first key gripper, by pulling to a position of pre-tightened thread as explained above, after which the reaming operation is performed.
    After carrying out the reaming operation, corresponding to the length of a drawn drill string component, the first key gripper is advantageously initiated to engage with a (lower) key grip on the next drill string component, breaking of a thread is initiated between the drawn drill string component and the drill string component. After further rotation according to the above, the second key gripper is preferably connected to the (upper) key grip of the drilled drill string component, and the thread is broken between the wound drill string component and the next drill string component.
    A detached drill string component is gripped and preferably moved by a drill string component handler including a control arm with a gripper.
    Rotation of a gripped drill string component is sensitively sensed by a sensing roller associated with a gripper.
    Preferably, the first key gripper is displaced linearly relative to the holding table between the inactive and active positions.
    Preferably, rotation of the second key grip device and drill string chuck together with the rotator is done by these components being permanently interconnected.
    Additional features and benefits are set forth in 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 accompanying drawings, in which: Fig. 1 illustrates a riser drill in a side view, Fig. 2 shows in a detail view and partly in the sectional rig drilling in Fig. Fig. 3 schematically illustrates a twisting sequence in connection with thread tightening and thread release, respectively. Fig. 4a and b illustrate a device for cleaning and greasing a thread to a drill string component, and the principle of the first sensor arrangement, Fig. 5 illustrates the drill string pre-chuck. Fig. 6a, b and c show the holding table with the first key grip device and the principle for detecting a correct rotational position of an upper key grip, and Fig. 7 schematically illustrates a method sequence according to the invention.
    DESCRIPTION OF EMBODIMENTS The drilling machine 1 illustrated in Fig. 1 is a one-way drilling machine, which is designed for driving in directions both from and towards the drilling machine. The drilling machine has a holding table 5, which rests on a foundation, which in turn comprises means for attaching the drilling machine to a wide surface such as a surface of a rock formation 3. The drilling machine can be set up to be directed for action in different directions.
    A drive head 6 is movable axially in the directions of the double arrow A and arranged to drive a drill string 8 generating a pilot borehole 4 and a raised shaft or the like (indicated by dashed lines and denoted by 4 ') in the rock formation 3. The position of the drive head 6 is sensed along the length 125, which is able to emit signals for calculation of e.g. in which position the uppermost II drill string component is located relative to the tumbler table.
    Next to the drilling machine 1 is shown a single-strand string component handler 19 for insertion into or removal of drill string components from a drill string position in the drilling machine 1.
    The drill string component handler 19 includes a gripper 20, which is supported by an operating arm 21. This is capable of moving a gripped drill string component between said drill string positions and a bearing or bearing.
    The gripper 20 has a rotation sensor in the form of a sensing roller 22, which is arranged so that it can be brought into abutment against a drill string component so that it is thereby able to detect whether a drill string component is in rotation. In this way, upon rotation of the drill string chuck, it can be determined that the drill string component interotics and thus verify that breaking of a thread of the intermediate drill string chuck and the top drill string component has been properly performed and has been successful. 33 indicates a unit for cleaning and greasing the suspension of a drill string component. This device will be described in more detail below.
    Fig. 2 shows in more detail parts of the drilling machine 1 with the drive head 6 movable in an axial joint according to the double arrow A. The holding table 5 is shown with a first key grip device 11 arranged in connection therewith, which is shown in Fig. 2 and in engagement with a lower key grip 24 on the drill string component 7. An upper key grip on the saw drill string component 7 is denoted by reference numeral 14.
    The drive head 6 carries a rotator 9, which is connected to a drill string chuck 10 (indicated by dashed lines) with a female thread for co-operation with a male thread on top of a drill string component. A male thread on the (top) drill string component 7 held by the first key gripper 11 is denoted by 18.
    Fig. 2 shows the prevailing situation when a single drill string component has been removed from the drill string and the drive head is on its way to the holding table to initiate the rotator to thread on the drill string chuck 10 on the thread 18 to perform a new reaming corresponding to the length of a single drill string component. After tightening and tightening, clearance of such a length is now carried out.
    Thereafter, the first key gripper ll is again initiated to grip a lower key grip on the next drill string component.
    In connection with the rotator 9 in the drive head 6, a second key grip device 12 is arranged, which is arranged to cooperate with the upper key grip 14 on a drill string component. The second key gripper 12 is rotationally connected to the co-rotator and the drill string chuck but movably axially to be engaged in or disengaged from said upper key handle 14.
    To effect this engagement, the second key gripper 12 is equipped with four circumferentially distributed engagement jaws 37 (three shown), which are radially movable to engage in inserted positions, respectively, to release said key grip in output positions. 13 indicates a first sensor arrangement arranged in connection with the first key grip device 11 on the holding table 5 for detecting height and rotation position on the upper key grip 14 (alternatively the lower key grip 24) for a drill string component. When rotating and axially moving the drill string, the first sensor arrangement is capable of detecting the position of the key handle 14/24 to allow the drill string to be rotated and axially moved to such an extent and to such a position that the first key gripper 11 can be initiated to engage the key.
    A second sensor arrangement 15 is also provided for detecting a second rotational position, namely a rotational position for the second key gripper 12. This can preferably be used to relate the second rotational position of the second key grip gripper to the second rotary gripping device 12 to a tight position of the drill string chuck 10. 14 for the same drill string component when it is fixed in the first key gripper.
    The data thus obtained advantageously enables, by rotation of the rotator, alignment of the second key gripper 12 with an upper key grip on a single drill string component to be detached from the rest of the drill string. This facilitates and speeds up the initiation of the second key gripper 12 and enables automation of the process.
    A CU calculation unit 16 is arranged for handling data supplied from said sensor arrangement and for communicating with a circuit for initiating the rotator 9, the two key grippers 11, 12, the axial drive of the drive head, etc. An associated memory is referred to as reference numeral 17.
    The drill string chuck 10 is indicated by dashed lines in Fig. 2, but is more clearly seen inside the second key gripper 12 in Fig. 5.
    Fig. 3 schematically illustrates, with the aid of a rotation angle report, a sequence for obtaining a relationship between the key grip and the second key grip device when tightening the drill string chuck on a single thread. The sequence is performed in the case of lowered drill string chuck 10 pre-tightening therewith with the upper thread 18 in the position shown in Fig. 2. 14 The sequence begins with the chuck being rotated "forward" according to the ROT arrow to reach a contact position K when the thread is "slightly" tightened.
    Then angle measurement is started during departure rotation, ie. the chuck is rotated "backwards" at angle A to a position when the second sensor arrangement 15 is deflected because a sensing indicator or "flag" is detected (see Fig. 5, sensing indicator 25 is detected by sensor 45), which in Fig. 3 is indicated by position I. The angular difference between drill string component 7 key grip and the second key grip can now be calculated, and this calculated angle difference is now stored in memory 17.
    The threaded connection between the drill string chuck 10 and the thread 18i Fig. 2 is then tightened to a position for the tightened thread G to a required torque for drilling operation at an angle B.
    In this tightening condition, reaming takes place as described above until the uppermost drill string component as a whole is above the holding table 5 and the first key gripper 11 can be initiated. This can take place after signals have been received from the first sensor arrangement 13 that the upper key grip 14 for the next drill string component is in a correct position for this initiation of the first key grip device 11.
    The thread between the drill string chuck and the upper drill string component can now be broken by reversing the rotator 9 and rotating the angle C. Then the gripper 20 is inserted for cooperation with this drill string component, the sensing roller 22 by its contact with this drill string component 7 verifying that the drill string has been broken. The thread is then turned the angle D back to the contact position K.
    Thereafter, the rotation of the rotator in the release-releasing direction angles A continues back to the initial position I, the second key gripper 12 now being in principle replaceable in the upper key grip 14 in the upper drill string component.
    When the system verifies that the second key gripper 12 has been successful in properly engaging this key grip 14, the threaded connection between the top drill string component 7 and the next drill string component, which is held by the retaining table 5, can be broken by reversing the rotator 9 and the other key handle.
    The drill string component 7 is now released by releasing the second key gripper 12 and then the now free drill string component is removed by means of the drill string component handler 19 and moving the drill string component to a bearing.
    If the attempt to connect the second key gripper 12 to the present upper key grip should fail for any reason after the return to position I, a single search sequence is performed which means that a search pattern is made back and forth at increasing angles of rotation of the rotator 9 and the other key gripper for the correct device 12. In the event of unsuccessful initiation of the second key gripper after the search sequence has been completed, a signal is emitted, which means that manual assistance needs to be used.
    Figs. 4a and b show more clearly the unit 33 for cleaning and greasing the male thread 18 to a drill string component. This unit is very important to guarantee correct contraction of two drill string components and to avoid unwanted permanent tightening between them. The unit 33 is automatically activatable before each splicing of a new drill string component to the drill string. The unit 33 comprises three groups of pre-cleaning and greasing brushes, which are supported by a downwardly open body so that the whole unit can be moved in a thread-like manner to comprise the thread to be treated.
    A first group comprises a number of rotatable steel brushes38 set against the shoulder 39 of the drill string component to be treated. These brushes 38 in the first group are cup-shaped and rotatable about the respective shafts, which are parallel to the shaft of the drill string component to be treated. With their respective bristles directed substantially axially, they attack the surface of the axially directed shoulder and clean it of solid lubricant residues etc. and provides efficient cleaning pre-ensuring adequate abutment in conjunction with the next drill string component. When the first group of brushes forms against the shoulder 39, the body of the unit 33 and the brushes 38 are suitably rotated so that the brushes will also perform a dry cleaning effect against the thread 18 itself.
    A second group of brushes 40 and a third group of brushes 41 are designed and arranged for greasing the thread 18 and the shoulder 39. It should be noted that the brushes 40 and 41 are displaceable axially relative to the body of the unit 33 and thus relative to the first group of brushes 38, as shown of the two relative positions shown in Figs. 4a and b. This alternatively provides activation of the brushes 38 (setting according to Fig. 4a) or the brushes 40 and 41 (setting according to Fig. 4b).
    The second group of brushes 40 are arranged with brush-directed substantially in a direction parallel to the axis of the drill string component while the third group of brushes 41 are arranged with the brush angled to conform to the cone angle of the thread. 17 In the parked position of the unit 33, which in principle is shown in Figs. 1, arrangement is provided for greasing the brushes 40 and 41. This arrangement may comprise, for example, grease sprayers for co-operation with the brushes 41 and a grease tray, in which the brushes 40 are immersed.
    A cleaning and treatment sequence comprises: 1. The brushes 40 and 41 of the unit 33 are filled with lubricating grease by inserting a grease gun into the interior of the brush package and the brushes of the second group are immersed in a grease tray. 2. The unit 33 is pivoted into the drill string position. The unit 33 is pressed axially downwards against the thread and the shoulder, which is treated during rotation of the brush package, with the brushes, the position for cleaning the shoulder being shown in Fig. 4a. The unit 33 is pulled up axially at the same time as the brushes 40 and 41 of the second and third groups are moved axially downwards for pre-greasing as shown in Fig. 4b 5. The unit 33 is moved axially upwards, from the drill string position to the parking position in Fig. 1.
    Fig. 4a also schematically shows the principle of the first sensor arrangement 13 for detecting a correct height position or axial position of the upper key grip 14 of the drill string component 7 in relation to the holding table. 34 'is a generator of a light beam 36', which is sensed by an optical sensor 35 '.
    Fig. 5 shows in more detail the second key gripper 12 with the four circumferentially distributed engagement jaws 37 and the drill string chuck 10. The engagement jaws 37 cooperate for sin activation, ie. their radial movements for engagement with a key grip on a drill string component, with the actuating ring42. This activating ring is connected to the four-engagement jaws 37 with linkers (not shown) so that a downward movement of the activating ring causes movement of the engaging jaws 37 radially inwards. In its most lowered position, the actuating ring 42 is located radially outside the engagement jaws 37 so that they are locked by the actuating ring in their insertion position. A pivotable actuating fork 43 engages in a ring groove radially at the end of the actuating ring 42. Hydraulic cylinder 44 is pressurized on its respective sides in the intended direction.
    Fig. 5 also shows a principle of operation of the second sensor arrangement 15, wherein at least one sensor 45 such as a Hall effect sensor, a magnetostrictive sensor, a capacitive sensor, an inductive sensor, an optical sensor or a purely mechanical rotation sensing sensor is arranged to cooperate with a plurality of sensing indicators. In the form of, for example, flags, lugs or the like arranged in connection with, on or associated with the second key gripper 12. In the embodiment shown, the sensing indicators 25 are located in line with a central portion of each of the four radially movable engagement jaws 37. May be of different types depending on the addition of sensor arrangements used.
    Figs. 6a, b and c show the holding table 5 with the first key grip device 11 and the principle for detecting a correct rotational position of the upper key grip 14.
    The first key gripper 11 is arranged linearly displaceable between an inactive position, as shown in Figs. 6a and b, and an active position or engagement position, which is shown in Figs. 6c. The first key gripper 11 is arranged to be displaceable along linear guides arranged on the holding table 5 between these positions and is thus permanently rotatably connected to the holding table 5. In the embodiment shown, the displaceability is provided by a pair of hydraulic cylinders. In this exemplary embodiment, the first sensor arrangement 13 comprises two orthogonally arranged sensor devices.
    It will be appreciated that with the upper key grip 14 in the correct rotational position (Fig. 6b), an optical signal in the form of the light beams 36 'and 36 "generated by light generators 34' and 34" can be detected by the optical sensor sensors 35 'response of the first sensor arrangement. 35 ", while an incorrect rotational position (Fig. 6a) of the upper key grip 14 causes such an optical signal to be blocked. It will be appreciated from these Figures that even an incorrect height position of the upper key grip 14 such an optical signal will be blocked.
    It is also possible to generate and detect two (or more) light beams at different heights or one vertically propagated light beam to increase the height precision in the measurement. The light beams 36 'and 36 "can also be at different heights.
    With the upper key grip 14 in the correct turning position (Fig. 6b) and height position in relation to the holding table 5, registered by the optical sensor sensors 35'resp of the first sensor arrangement. 35 ", the first key gripper can now be inserted into engagement with the lower key handle 24, as shown in Fig. 6c. Fig. 7 illustrates a method sequence according to one embodiment of the invention, wherein: Position 26 indicates the start of the sequence.
    Position 27 indicates that in connection with the establishment of a tightening connection between the drill string chuck and an upper threaded housing, a drill string component held by the first key gripper senses a second rotational position of the second key gripper through the second sensor array of the data array.
    Position 28 indicates release of the first key gripper and performing a reaming operation corresponding to the length of a drill string component.
    Position 29 indicates, after carrying out the reaming operation, sensing a first turning position for a key grip on the next drill string component through the first sensor arrangement, turning and moving the drill string until the key grip is aligned and positioning of the first key grip means mentioned key.
    Position 30 indicates breakage of a thread between the drawn drill string component and the drill string chuck.
    Position 32 indicates the end of the sequence.
    The sequence is performed repeatedly as needed. Sequence steps according to the above positions can be supplemented with additional steps, e.g. taking into account so-called roll-out, which means that after rotation operation has been interrupted, the drill string with drill bit and connected rotator will continue to rotate a certain angle due to the inertia of the ice system. This roll-out is preferably estimated repeatedly during the process and is taken into account when applying the first key gripper 11 with the guidance of the first sensor arrangement 13.
    Additional steps may also be preferred as described above.
    The invention may be further modified within the scope of the appended claims. Thus, the principle of the pre-invention can be used in different types of drilling machines, in addition to reaming drilling also for so-called slot drilling, whereby a number of partially overlapping holes are drilled next to each other. Application is relevant for raise drilling and box 21 drilling. It will be appreciated that drilling can take place in all directions, the co-drill directed downwards according to the accompanying Figures, to the sides and upwards. In addition, the drilling machine can be inclined for drilling with different optional angles to the vertical direction as well as the motor horizontal plane.
    Consequently, it will be appreciated that the term "top drill string component" does not necessarily refer to vertically located drill string component but rather to the drill string component located closest to the drive head.
    The invention has mainly been described on the basis of the clearance process when drill string components are successively removed from the drill string. This process is the most complicated and requires the most effort to be able to automate. A single drilling machine according to the invention can advantageously be used automatically even when adding drill string components to the drilling string, in which case the second key gripper 12 is not needed.
    It is not excluded that the second sensor arrangement 10 for sensing a second rotational position of the second key gripper 12 is associated with some part of the rotator and emits an indirect value of the second rotary position.
    It is also quite possible to insert an absolute angle sensor as the second sensor arrangement 15 for sensing the second rotational position of the second key gripper. In this case, no measurement procedure of angle A needs to be performed.
    Sensing of rotation of a drill string component 7 to verify correct breaking of the thread between the drill string chuck and the drill string component can also take place by other rotation sensor means than through a sensing roller 22 associated with a gripper 20. For example, an optical sensor may be arranged separately on the rig. The method can be realized with drill string components with only one key grip, but it is preferred that the drill string components have an upper and a lower key grip to facilitate gripping with the two key grippers.
    权利要求:
    Claims (25)
    [1]
    A drilling machine (1) for driving a drill string (8), the drilling machine comprising: - a drive head (6) movable in an axial direction towards and from a pouring table (5), respectively, for axially driving the drill string (8), a rotator (9) arranged in the drive head (6) for rotational drive of the drill string (8), - a drill string chuck (10) belonging to the rotator (9), - a first key gripper (11) arranged in connection with the hopper table (5), - a second key handle (l2) arranged in connection with the rotator (9), characterized by - a first sensor arrangement (l3) arranged in the area of the tilting table (5) for sensing a first rotational position for a key grip (l4; 24) on a drill string component (7), - a second sensor arrangement (l5) for sensing a second rotary position of the second key gripper (l2), and - a memory (l7) for storing data representing the second rotary position.
    [2]
    Drilling machine according to claim 1, characterized in that - a calculation unit (16) is arranged to determine, based on said data representing the second width position, an angle between the second turning position and a turning position of the first key gripper (11) and thereby an angle between the second width position. and said key grip (14; 24).
    [3]
    Drilling machine according to claim 1 or 2, characterized in - that the second sensor arrangement (15) comprises at least one sensor on the drive head (6), which is arranged to cooperate with at least one sensing indicator (25) in connection with the second key gripper. (l2).
    [4]
    Drilling machine according to one of the preceding claims, characterized in that said first and second sensor arrangements (ll; l5) each include at least one sensor from the group: optical sensor, inductive sensor, capacitive sensor, Hall effect sensor, magnetostrictive sensor and purely mechanical rotation sensing SGHSOK.
    [5]
    Drilling machine according to one of the preceding claims, characterized in that the second sensor arrangement (15) is arranged to actuate the second rotary bearing for the second key gripper (12) in a state of uninitiated tightening connection between the drill string chuck (10) and an upper passage (10). of single drill string component (7), which is held by the first key gripper (II).
    [6]
    Drilling machine according to claim 5, characterized in that the drilling machine is arranged: - to establish tightening connections with said upper passage (18) of a drill string component (7), which is held by the first key gripper (11), by tightening a tightened passage .
    [7]
    Drilling machine according to claim 5 or 6, characterized in that the drilling machine comprises: - means for initiating the first key gripper (II) to engage with a key grip on the next drill string component after a carried out reaming operation corresponding to the length of the drawn drill string component (7); breaking of said upper passage (18) between the drawn drill string component and the rotator (9). 77890
    [8]
    Drilling machine according to one of Claims 5 to 7, characterized in that it is advised that after breaking said upper passage (18) between the drawn drill string component and the rotator (9) connect the second key gripper to the key drill string component of the drill bit component and the key grip (14) break the passage between the drawn drill string component and the next drill string component.
    [9]
    Drilling machine according to one of the preceding claims, characterized by a drill string component handler (19) including a gripper (20) for gripping and an operating arm (21) for moving drill string components.
    [10]
    10. lO. Drilling machine according to one of the preceding claims, characterized in that the gripper (20) has a rotation sensor for sensing rotation of a gripped drill string component.
    [11]
    11. ll. Drilling machine according to one of the preceding claims, characterized in that the first sensor arrangement (13) comprises at least one light generator and one optical sensor, positioned so that a single light beam or light beams therebetween have free passage when a key grip is in the correct height and rotation position.
    [12]
    12. l2. Drilling machine according to one of the preceding claims, characterized in that the first key gripper (11) is arranged in a displaceable and permanently non-rotatable connection to the holding table (5).
    [13]
    13. l3. Drilling machine according to one of the preceding claims, characterized in that the second key gripper (12) and the drill string chuck (10) are permanently connected to the rotator (9) in order to be rotatable together. 77890 26
    [14]
    Method for driving a drill string (8) comprising: - axial drive of the drill string (8) with a drive head (6) movable in an axial hinge and respectively from a holding table (5), - rotational drive of the drill string (8) with a rotator (9) arranged on the drive head (6), - sensing a first rotating bearing for a key grip (14; 24) on a drill string component by means of a first sensor arrangement (13), which is arranged at a first key gripping device (11) arranged on the holding table, - turning of the drill string (8) until the key grip (14; 24) is aligned with the first key grip device (11), - insertion of the first key grip device (11) into the key key grip (14; 24), - sensing a second rotary position for a second key grip (12) arranged in connection with the rotator (9) by a second sensor arrangement (15), and - storing data representing the second rotary layer in a memory (17).
    [15]
    A method according to claim 14, comprising: - sensing the second rotary bearing of the second key gripper (12) by at least one sensor on the drive head (6) arranged to cooperate with at least one sensing indicator (25) in connection with the second key gripper (12).
    [16]
    A method according to claim 14 or 15, comprising: - determining an angle between the second pivot bearing and a pivot bearing for the first key gripper (11) and the through-angle between the second attachment and said key grip (14) based on said data representing the second 77890 27 rotating layer.
    [17]
    A method according to any one of claims 14 to 16, comprising: - sensing the second rotating layer of the second key gripper (12) in a state of uninitiated tightening connection between the drill string chuck (10) and an upper passage (18) of a drill string component (7), which is the holding of the first key gripper (11).
    [18]
    A method according to claim 17, comprising: - establishing the tightening connection with said upper thread (18) of a drill string component (7), which is the retainer of the first key gripper (11), by pulling to a bearing for the tightened thread.
    [19]
    A method according to claim 17 or 18, comprising: - initiating the first key grip device (11) to engage with a key grip (14; 24) on the next drill string component after carrying out a reaming operation corresponding to the length of a single drawn drill string component (7), and - breaking the passage between the the upper aisle and (18) the drill string chuck (10).
    [20]
    A method according to claim 19, comprising: - connecting the second key gripper (12) to the key grip (14) of the retracted drill string component, and - breaking the passage between said mandrel drill string component (7) said next drill string component which is the handle of the first key handle ( ).
    [21]
    A method according to any one of claims 14 - 20, comprising: - gripping and moving a detached drill string component (7) by means of a drill string component handler (19) including an operating arm (21) with a gripper (20).
    [22]
    A method according to claim 21, comprising: - sensing rotation of a gripped drill string component (7) through a rotation sensor associated with a gripper (20) such as a scanning roller (22).
    [23]
    A method according to any one of claims 14 - 22, comprising: - sensing said second rotary layer of at least one sensor group: optical sensor, inductive sensor, capacitive sensor, Hall effect sensor, magnetostrictive sensor and purely mechanical rotation sensing sensor.
    [24]
    A method according to any one of claims 14 - 23, comprising: - displacing the first key gripper (11) relative to the holding table (5) between inactive and active bearings.
    [25]
    A method according to any one of claims 14 - 24, comprising: - rotating the second key gripper (12) and the drill string chuck (10) together with the rotator (9) by these components being permanently connected. 77890
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    同族专利:
    公开号 | 公开日
    CA2973951A1|2016-09-09|
    AU2016226645A1|2017-09-28|
    SE540309C2|2018-06-05|
    WO2016140614A1|2016-09-09|
    AU2016226645B2|2021-04-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102011000688A1|2011-02-14|2012-08-16|Aker Wirth Gmbh|System for mechanically attaching a scraper key and / or a breaker key to a drill string and raise boring machine|
    US9523269B2|2012-09-21|2016-12-20|Caterpillar Global Mining Equipment Llc|Automatic control system and method for a drilling tool changer apparatus|
    SE539108C2|2013-03-01|2017-04-11|Atlas Copco Rock Drills Ab|Drilling arrangements, vehicles, computer programs and the procedure for holding drill stringers|CA3116685A1|2018-10-15|2020-04-23|National Oilwell Varco, L.P.|Lubricator assembly and method for servicing tubular members|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1550253A|SE540309C2|2015-03-04|2015-03-04|Device and method of rock drilling|SE1550253A| SE540309C2|2015-03-04|2015-03-04|Device and method of rock drilling|
    CA2973951A| CA2973951A1|2015-03-04|2016-03-01|Device and method in respect of rock boring|
    AU2016226645A| AU2016226645B2|2015-03-04|2016-03-01|Device and method in respect of rock boring|
    PCT/SE2016/050159| WO2016140614A1|2015-03-04|2016-03-01|Device and method in respect of rock boring|
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