阅读说明：本技术 旋挖钻机的配重自拆卸方法、自安装方法及旋挖钻机 (Counterweight self-disassembling method and counterweight self-assembling method of rotary drilling rig and rotary drilling rig ) 是由 田海文 余桃喜 于 2020-11-24 设计创作，主要内容包括：本发明涉及工程机械技术领域,提供一种旋挖钻机的配重自拆卸方法、自安装方法及旋挖钻机,所述自拆卸方法包括获取主机的行驶状态信息,并对所述主机的行驶状态是否满足预设条件进行判断；响应于所述主机的行驶状态满足预设条件,获取桅杆梁和滑轮架组件的位置状态信息,并根据所述位置状态信息生成调节所述桅杆梁的幅度以及所述滑轮架组件与所述桅杆梁之间相对位置的自拆卸决策；执行所述自拆卸决策,通过所述滑轮架组件对配重进行吊装实现所述配重的自拆卸。本发明提供的所述自拆卸方法通过利用旋挖钻机自身的桅杆梁和桅杆移动机构来实现配重的安全可靠吊装,减少吊车的使用和依赖,实现快速拆卸、快速转场。(The invention relates to the technical field of engineering machinery, and provides a counterweight self-disassembling method and a counterweight self-assembling method of a rotary drilling rig and the rotary drilling rig, wherein the self-disassembling method comprises the steps of acquiring running state information of a host and judging whether the running state of the host meets a preset condition; responding to the running state of the host machine and meeting the preset condition, acquiring position state information of a mast beam and a pulley frame assembly, and generating a self-disassembly decision for adjusting the amplitude of the mast beam and the relative position between the pulley frame assembly and the mast beam according to the position state information; and executing the self-disassembly decision, and hoisting the balance weight through the pulley yoke assembly to realize the self-disassembly of the balance weight. According to the self-disassembling method provided by the invention, the safe and reliable lifting of the balance weight is realized by utilizing the mast beam and the mast moving mechanism of the rotary drilling rig, the use and dependence of a crane are reduced, and the quick disassembly and the quick transition are realized.)

1. A counterweight self-disassembling method of a rotary drilling rig is characterized by comprising the following steps:

acquiring running state information of a host, and judging whether the running state of the host meets a preset condition;

responding to the running state of the host machine and meeting the preset condition, acquiring position state information of a mast beam and a pulley frame assembly, and generating a self-disassembly decision for adjusting the amplitude of the mast beam and the relative position between the pulley frame assembly and the mast beam according to the position state information;

and executing the self-disassembly decision, and hoisting the balance weight through the pulley yoke assembly to realize the self-disassembly of the balance weight.

2. The method for self-disassembling the counterweight of the rotary drilling rig according to claim 1, wherein the step of acquiring the driving state information of the main machine and judging whether the driving state of the main machine meets a preset condition specifically comprises:

and determining the current running state of the host, and judging that the running state of the host meets the preset condition in response to the fact that the running speed of the host is zero.

3. The method for self-disassembling the counterweight of the rotary drilling rig according to claim 1, wherein the step of obtaining position state information of a mast beam and a trolley frame assembly in response to the driving state of the main machine satisfying a preset condition, and generating a self-disassembling decision for adjusting the amplitude of the mast beam and the relative position between the trolley frame assembly and the mast beam according to the position state information specifically comprises:

acquiring current position information of the mast beam and the pulley yoke assembly;

acquiring first disassembly environment information of a counterweight installation position;

generating the self-disassembly decision according to preset position information of a preset position and the first disassembly environment information in response to the mast beam and the sheave frame assembly being in the preset position;

in response to one of the mast beam and the sheave frame assembly being in the preset position and the other being in a non-preset position, generating the self-disassembly decision based on preset position information for the preset position, non-preset position information for the non-preset position, and the first disassembly environment information;

and generating the self-disassembly decision according to the non-preset bit information of the non-preset position and the first disassembly environment information in response to the mast beam and the sheave frame assembly being in the non-preset position.

4. The method for self-disassembling the counterweight of the rotary drilling rig according to claim 1, wherein after the step of implementing the self-disassembly decision by hoisting the counterweight through the pulley yoke assembly, the method specifically comprises:

acquiring relative position information between the host and a counterweight pre-placing position;

acquiring second disassembling environment information of the counterweight pre-placing position;

generating a disassembly and placement decision of the counterweight at the counterweight pre-placement position according to the relative position information and the second disassembly environment information;

and after the disassembly and placement decision is executed once, the relative position information and the second disassembly environment information are obtained again, and the disassembly and placement decision is updated.

5. A counterweight self-mounting method of a rotary drilling rig is characterized by comprising the following steps:

acquiring running state information of a host, and judging whether the running state of the host meets a preset condition;

responding to the running state of the host machine to meet a preset condition, acquiring relative position information between the host machine and a counterweight preset position, acquiring position state information of a mast beam and a pulley frame assembly, and generating a self-installation decision for adjusting the amplitude of the mast beam and the relative position between the pulley frame assembly and the mast beam according to the relative position information and the position state information;

and executing the self-installation decision, and hoisting the balance weight through the pulley frame assembly to realize the self-installation of the balance weight.

6. The self-mounting method for the counterweight of the rotary drilling rig according to claim 5, wherein the step of obtaining the driving state information of the main machine and judging whether the driving state of the main machine meets a preset condition specifically comprises the following steps:

and acquiring the current running state of the host, and judging that the running state of the host meets the preset condition in response to the fact that the running speed of the host is zero.

7. The self-installation method of the counterweight of the rotary drilling rig according to claim 5, wherein the step of obtaining the relative position information between the main machine and the counterweight pre-placement position, obtaining the position state information of the mast beam and the trolley frame assembly, and generating the self-installation decision for adjusting the amplitude of the mast beam and the relative position between the trolley frame assembly and the mast beam according to the relative position information and the position state information in response to the driving state of the main machine meeting a preset condition specifically comprises:

acquiring relative position information between the host and the counterweight pre-placing position;

acquiring first installation environment information of the counterweight pre-placing position;

acquiring current position information of the mast beam and the pulley yoke assembly;

generating the self-installation decision according to preset position information of the preset position, the relative position information and the first installation environment information in response to the mast beam and the pulley frame assembly being in preset positions;

in response to one of the mast beam and the sheave frame assembly being in the preset position and the other being in a non-preset position, generating the self-installation decision based on preset position information of the preset position, non-preset position information of the non-preset position, the relative position information, and the first installation environment information;

and generating the self-installation decision according to the non-preset position information of the non-preset position, the relative position information and the first installation environment information in response to the fact that the mast beam and the pulley yoke assembly are both located at the non-preset position.

8. The self-installation method of the counterweight of the rotary drilling rig according to claim 5, wherein after the step of implementing the self-installation of the counterweight by hoisting the counterweight through the sheave frame assembly by executing the self-installation decision, the method specifically comprises:

acquiring second installation environment information of the counterweight installation position;

generating a mounting and placing decision of the counterweight at the counterweight mounting position according to the self-mounting decision and the second mounting environment information;

and after the installation and placement decision is executed once, the second installation environment information is obtained again, and the installation and placement decision is updated.

9. A rotary drilling rig, characterized by comprising: the device comprises a host, a luffing mechanism, a mast beam, a moving mechanism, a pulley frame assembly and a plurality of balance weights;

the amplitude variation mechanism is respectively connected with the host and the mast beam and is used for driving the amplitude variation of the mast beam;

the moving mechanism is arranged on the mast beam, connected with the pulley frame assembly and used for driving the pulley frame assembly to move along the extension direction of the mast beam;

a plurality of the counterweights are connected with the host;

the method for self-disassembling the counterweight of the rotary drilling rig according to any one of claims 1 to 4 is performed when the counterweight is disassembled, or the method for self-assembling the counterweight of the rotary drilling rig according to any one of claims 5 to 8 is performed when the counterweight is assembled.

10. The rotary drilling rig according to claim 9, wherein the sheave bracket assembly comprises: the sliding seat is mounted on the moving mechanism and connected with the sliding seat, and the pulley yoke is used for hoisting the balance weight;

alternatively, the sheave frame assembly comprises: pulley yoke, sliding seat and hoist and mount portion, wherein, the sliding seat is installed moving mechanism is last, the pulley yoke with the sliding seat is connected, be equipped with lifting hook on the sliding seat, hoist and mount portion with lifting hook perhaps the sliding seat is connected, hoist and mount portion is for being used for lifting by crane chain block and/or wire rope of counter weight.

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a self-disassembling method and a self-assembling method for a counterweight of a rotary drilling rig and the rotary drilling rig.

Background

The rear inverted mast type (parallelogram) rotary drilling rig is transferred after piling construction is finished, and the counter weight of the drilling rig is detached and transported independently due to the requirement of road control, usually with the assistance of a tire type crane, and then is transported away by being arranged on a flat trailer; every time of transferring, disassembling and installing of the balance weight needs one piece of hoisting equipment to assist in completing the disassembling and assembling work, and the disassembling and assembling are complex and high in cost, and the renting cost of the hoisting equipment needs to be paid once for each disassembling and assembling.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a counterweight self-disassembling method of a rotary drilling rig, which is used for solving the defect that the rotary drilling rig in the prior art can be realized only by assistance of a crane in the counterweight disassembling process, and the counterweight can be safely and reliably hoisted by utilizing a mast beam and a mast moving mechanism of the rotary drilling rig, so that the use and dependence of a crane are reduced, and quick disassembly and quick transition are realized.

The invention further provides a counterweight self-mounting method of the rotary drilling rig, which is used for solving the defect that the rotary drilling rig in the prior art can be realized only by assistance of a crane in the counterweight mounting process, and the counterweight can be safely and reliably hoisted by utilizing the mast beam and the mast moving mechanism of the rotary drilling rig, so that the use and dependence of a crane are reduced, and the quick mounting is realized.

The invention further provides a rotary drilling rig, which is used for solving the defect that the rotary drilling rig in the prior art can be realized only by assistance of a crane in the process of disassembling the counterweight, and the safe and reliable hoisting of the counterweight is realized by utilizing the mast beam and the mast moving mechanism of the rotary drilling rig.

According to a first aspect of the invention, a counterweight self-disassembling method for a rotary drilling rig comprises the following steps: acquiring running state information of a host, and judging whether the running state of the host meets a preset condition;

responding to the running state of the host machine and meeting the preset condition, acquiring position state information of a mast beam and a pulley frame assembly, and generating a self-disassembly decision for adjusting the amplitude of the mast beam and the relative position between the pulley frame assembly and the mast beam according to the position state information;

and executing the self-disassembly decision, and hoisting the balance weight through the pulley yoke assembly to realize the self-disassembly of the balance weight.

According to an embodiment of the present invention, the step of acquiring the driving state information of the host and determining whether the driving state of the host meets a preset condition specifically includes:

and determining the current running state of the host, and responding to the running speed of the host being zero, and judging that the running state of the host meets the preset condition.

Particularly, the safe operation of the counterweight in the disassembly process is ensured by acquiring the current running state of the host and setting the running speed to be zero so as to meet the preset condition.

According to an embodiment of the present invention, the step of obtaining position status information of a mast beam and a trolley frame assembly in response to the driving status of the host machine satisfying a preset condition, and generating a self-disassembly decision for adjusting the amplitude of the mast beam and the relative position between the trolley frame assembly and the mast beam according to the position status information specifically includes:

acquiring current position information of the mast beam and the pulley yoke assembly;

acquiring first disassembly environment information of a counterweight installation position;

in response to the mast beam and the sheave frame assembly both being at preset positions, generating the self-disassembly decision according to preset position information of the preset positions and the first disassembly environment information;

in response to one of the mast beam and the sheave frame assembly being in the preset position and the other being in a non-preset position, generating the self-disassembly decision based on preset position information for the preset position, non-preset position information for the non-preset position, and the first disassembly environment information;

and generating the self-disassembly decision according to the non-preset bit information of the non-preset position and the first disassembly environment information in response to the mast beam and the sheave frame assembly being in the non-preset position.

Specifically, the current position information of the mast beam and the pulley frame assembly is obtained, and the lifting scheme of the counterweight is obtained according to the actual positions of the mast beam and the pulley frame assembly, so that the counterweight is self-disassembled.

It should be noted that, for obtaining the current position information of the mast beam and the pulley frame assembly, the current position information can be judged by a sensor or an operator according to actual conditions, and the present invention is not limited too much, and in practical applications, the current position information is selected according to actual conditions, and the specific settings may refer to relevant settings in the field.

In an application scene, after the current position information of a mast beam and a pulley yoke assembly is obtained, the mast beam is adjusted to rise or fall to a certain height through an amplitude-changing mechanism, the height is based on the distance between the pulley yoke assembly and the upper surface of a self-disassembly target counterweight being 300mm, and after the pulley yoke assembly is 300mm away from the upper surface of the counterweight, the amplitude-changing mechanism stops driving the mast beam; the pulley frame assembly is moved to the position near the balance weight through the moving mechanism, and the hoisting between the pulley frame assembly and the balance weight is realized through the hoisting part; after the hoisting part hoists the balance weight to be 100mm away from the balance weight mounting position, the pulley frame assembly is moved away through the moving mechanism, and the balance weight is moved according to the movement track planned in the self-disassembly decision through the moving mechanism, the pulley frame assembly, the mast beam and the luffing mechanism.

It should be noted that, in the present invention, the luffing mechanism is used as the power mechanism of the mast beam, the moving mechanism is used as the power mechanism of the pulley frame assembly, the adjustment of the relative position between the mast beam and the pulley frame assembly is realized through the luffing mechanism and the power mechanism, and the self-disassembly of the counterweight in the relative position adjustment process of the mast beam and the pulley frame assembly is realized by using the relative position between the mast beam and the pulley frame assembly.

It should be noted that, because there is uncertainty in the positions of the mast beam and the sheave frame assembly in the whole system, for example, the mast beam and/or the sheave frame assembly does not return to the initial position after operation, at this time, the moving track of the mast beam and the sheave frame assembly in the counterweight self-disassembling process needs to be calculated according to the instant positions of the mast beam and the sheave frame assembly, and different moving tracks are planned according to the actual positions of the mast beam and the sheave frame assembly, so as to generate the self-disassembling decision.

According to an embodiment of the present invention, after the step of executing the self-disassembly decision and hoisting the counterweight by the sheave frame assembly to realize self-disassembly of the counterweight, the method specifically further includes:

acquiring relative position information between the host and a counterweight pre-placing position;

acquiring second disassembling environment information of the counterweight pre-placing position;

generating a disassembly and placement decision of the counterweight at the counterweight pre-placement position according to the relative position information and the second disassembly environment information;

and after the disassembly and placement decision is executed once, the relative position information and the second disassembly environment information are obtained again, and the disassembly and placement decision is updated.

Specifically, after the counterweight is detached from the counterweight mounting position of the host machine, the counterweight needs to be placed at a counterweight pre-placing position; in the process of placing the counter weight, the environment of the pre-placing position of the counter weight is likely to change or the distance between the host and the pre-placing position of the counter weight is different, so that the disassembly placement strategy of the counter weight is affected, the environment of the pre-placing position of the counter weight needs to be acquired in the process of placing the counter weight, disassembly placement decision generation is carried out according to the relative position between the host and the pre-placing position of the counter weight, and then the counter weight is placed in the pre-placing position of the counter weight.

It should be noted that the counter weights may be arranged in parallel or stacked at the counterweight pre-placing position, so that after the counter weights are placed, the environmental information of the counterweight pre-placing position needs to be acquired again, and then the counterweight disassembly and placement decision is regenerated according to the actual situation, so as to achieve the placement of the counter weights at the counterweight pre-placing position.

According to a second aspect of the invention, a counterweight self-mounting method for a rotary drilling rig comprises the following steps: acquiring running state information of a host, and judging whether the running state of the host meets a preset condition;

responding to the running state of the host machine to meet a preset condition, acquiring relative position information between the host machine and a counterweight preset position, acquiring position state information of a mast beam and a pulley frame assembly, and generating a self-installation decision for adjusting the amplitude of the mast beam and the relative position between the pulley frame assembly and the mast beam according to the relative position information and the position state information;

and executing the self-installation decision, and hoisting the balance weight through the pulley frame assembly to realize the self-installation of the balance weight.

According to an embodiment of the present invention, the step of acquiring the driving state information of the host and determining whether the driving state of the host meets a preset condition specifically includes:

and acquiring the current running state of the host, and responding to the running speed of the host being zero, and judging that the running state of the host meets the preset condition.

Particularly, the safe operation of the counterweight in the disassembly process is ensured by acquiring the current running state of the host and setting the running speed to be zero so as to meet the preset condition.

According to an embodiment of the present invention, the step of acquiring relative position information between the main machine and a counterweight preset position, acquiring position state information of a mast beam and a sheave frame assembly, and generating a self-installation decision according to the relative position information and the position state information in response to the traveling state of the main machine satisfying a preset condition specifically includes:

acquiring relative position information between the host and the counterweight pre-placing position;

acquiring first installation environment information of the counterweight pre-placing position;

acquiring current position information of the mast beam and the pulley yoke assembly;

generating the self-installation decision according to preset position information of the preset position, the relative position information and the first installation environment information in response to the mast beam and the pulley frame assembly being in preset positions;

in response to one of the mast beam and the sheave frame assembly being in the preset position and the other being in a non-preset position, generating the self-installation decision based on preset position information of the preset position, non-preset position information of the non-preset position, the relative position information, and the first installation environment information;

and generating the self-installation decision according to the non-preset position information of the non-preset position, the relative position information and the first installation environment information in response to the fact that the mast beam and the pulley yoke assembly are both located at the non-preset position.

Specifically, in the process of generating the self-installation decision, because the environment of the counterweight pre-placing position may change or the self-installation decision of the counterweight may be affected due to different distances between the host and the counterweight pre-placing position, the environment of the counterweight pre-placing position needs to be acquired in the process of hoisting the counterweight, and the self-installation decision is generated according to the relative position between the host and the counterweight pre-placing position, so that the hoisting of the counterweight is realized.

It should be noted that the counter weights may be arranged in parallel or stacked at the counterweight pre-placing position, so that after the counter weights are hoisted, the environmental information of the counterweight pre-placing position needs to be acquired again, and further, the self-installation decision of the counter weights is regenerated according to the actual situation, and further, the continuous hoisting of the counter weights is realized until all the counter weights required by the host computer are installed.

It should be noted that, by acquiring the current position information of the mast beam and the pulley frame assembly, a lifting scheme for the counterweight is obtained according to the actual positions of the mast beam and the pulley frame assembly, and further, self-installation of the counterweight is realized.

In practical applications, the current position information of the mast beam and the pulley frame assembly can be obtained through a sensor or an operator according to actual conditions, the method is not limited too much, the selection is carried out according to the actual conditions, and the specific setting can refer to related settings in the field.

In an application scene, obtaining the current position information of a mast beam and a pulley yoke assembly, the relative position information between the host and the counterweight pre-placing position, and obtaining the first installation environment information of the counterweight pre-placing position, and generating a self-installation decision according to the three information to realize the hoisting of the counterweight, wherein the specific process comprises the following steps: the mast beam is adjusted to rise or fall to a certain height through the amplitude-changing mechanism, the height is based on the distance of the pulley frame assembly 300mm from the upper surface of the installation target counterweight, and after the pulley frame assembly is 300mm from the upper surface of the counterweight, the amplitude-changing mechanism stops driving the mast beam; the pulley frame assembly is moved to the position near the balance weight through the moving mechanism, and the hoisting between the pulley frame assembly and the balance weight is realized through the hoisting part; after the hoisting part hoists the balance weight to be away from the balance weight pre-placing position by 100mm, the pulley frame assembly is moved away through the moving mechanism, and the balance weight is moved according to the movement track planned in the self-installation decision through the moving mechanism, the pulley frame assembly, the mast beam and the luffing mechanism.

It should be noted that, in the present invention, the luffing mechanism is used as the power mechanism of the mast beam, the moving mechanism is used as the power mechanism of the pulley frame assembly, the adjustment of the relative position between the mast beam and the pulley frame assembly is realized through the luffing mechanism and the power mechanism, and the self-installation of the counterweight in the relative position adjustment process of the mast beam and the pulley frame assembly is realized by using the relative position between the mast beam and the pulley frame assembly.

It should be noted that, because there is uncertainty in the positions of the mast beam and the sheave frame assembly in the entire system, for example, the mast beam and/or the sheave frame assembly does not return to the initial position after operation, the moving track of the mast beam and the sheave frame assembly in the counterweight self-installation process needs to be calculated according to the instant positions of the mast beam and the sheave frame assembly, and different moving tracks are planned according to the actual positions of the mast beam and the sheave frame assembly, so as to generate the self-installation decision.

According to an embodiment of the present invention, the step of performing the self-installation decision to realize self-installation of the counterweight through the mast beam and the sheave frame assembly specifically includes:

acquiring second installation environment information of the counterweight installation position;

generating a mounting and placing decision of the counterweight at the counterweight mounting position according to the self-mounting decision and the second mounting environment information;

and after the installation and placement decision is executed once, the second installation environment information is obtained again, and the installation and placement decision is updated.

Specifically, after the counterweight is lifted from the counterweight pre-placing position, the counterweight needs to be placed at the counterweight mounting position of the host machine so as to realize self-mounting of the counterweight; in the installation process of the counterweight, because the environment of the counterweight installation position can change, for example, after the counterweight is stacked in multiple ways, the installation height of the counterweight installation position to the counterweight can change, so that the information of the counterweight installation position needs to be continuously acquired in the installation process of the counterweight, and when the counterweight is installed at the counterweight installation position, the environment information of the counterweight installation position is acquired again, and then the installation and placement decision of the counterweight is regenerated.

According to a third aspect of the present invention, there is provided a rotary drilling rig comprising: the device comprises a host, a luffing mechanism, a mast beam, a moving mechanism, a pulley frame assembly and a plurality of balance weights;

the amplitude variation mechanism is respectively connected with the host and the mast beam and is used for driving the amplitude variation of the mast beam;

the moving mechanism is arranged on the mast beam, connected with the pulley frame assembly and used for driving the pulley frame assembly to move along the extension direction of the mast beam;

a plurality of the counterweights are connected with the host;

when the counterweight is disassembled, the counterweight self-disassembling method of the rotary drilling rig is executed, or when the counterweight is installed, the counterweight self-installing method of the rotary drilling rig is executed.

According to one embodiment of the invention, the sheave frame assembly comprises: the sliding seat is mounted on the moving mechanism and connected with the sliding seat, and the pulley yoke is used for hoisting the balance weight;

alternatively, the sheave frame assembly comprises: pulley yoke, sliding seat and hoist and mount portion, wherein, the sliding seat is installed moving mechanism is last, the pulley yoke with the sliding seat is connected, be equipped with lifting hook on the sliding seat, hoist and mount portion with lifting hook perhaps the sliding seat is connected, hoist and mount portion is for being used for lifting by crane chain block and/or wire rope of counter weight.

Particularly, this embodiment provides two kinds of sheave bracket assemblies and carries out the implementation of hoist and mount to the counter weight, and one is that the hoist and mount to the counter weight is realized through the lifting hook of sheave bracket, and it is second through being connected hoist and mount portion and pulley seat or lifting hook, has realized that hoist and mount portion can move along with the removal of sheave bracket, and then sets hoist and mount portion to chain block and/or wire rope, and corresponding be provided with on the counter weight with hoist and mount portion complex coupler body, the realization is lifted by crane to the counter weight.

One or more technical solutions in the present invention have at least one of the following technical effects: according to the self-disassembling method and the self-assembling method for the counterweight of the rotary drilling rig and the rotary drilling rig, safe and reliable lifting of the counterweight is achieved by utilizing the mast beam and the mast moving mechanism of the rotary drilling rig, the use and dependence of a crane are reduced, and quick disassembling and quick transition are achieved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow relationship diagram of a counterweight self-disassembling method of a rotary drilling rig provided by the invention;

FIG. 2 is a schematic flow relationship diagram of a counterweight self-mounting method of the rotary drilling rig provided by the invention;

fig. 3 is a schematic structural relationship diagram of the rotary drilling rig provided by the invention.

Reference numerals:

1. a host; 2. a luffing mechanism; 3. a mast beam; 4. a moving mechanism; 5. a pulley yoke; 6. a hoisting part; 7. balancing weight; 8. a counterweight pre-placing position; 9. a counterweight mounting position; 10. a sliding seat; 11. and (6) lifting the hook.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Fig. 1 is a schematic flow relationship diagram of a counterweight self-disassembling method of a rotary drilling rig provided by the invention. As can be seen from FIG. 1, the invention provides a counterweight self-disassembling method of a rotary drilling rig, which realizes the self-disassembling of a counterweight 7 of the rotary drilling rig by utilizing a mast beam 3 and a pulley frame assembly of the rotary drilling rig. In practical application, the mast beam 3 is connected with the luffing mechanism 2, the pulley frame assembly is connected with the moving mechanism 4, wherein the luffing mechanism 2 is used for adjusting the amplitude of the mast beam 3, the moving mechanism 4 is connected with the mast beam 3, the pulley frame assembly is driven to slide along the extension direction of the mast beam 3, the position of the pulley frame assembly is further adjusted, the pulley frame assembly is moved to a counterweight mounting position 9 arranged on the host 1 through adjustment of the relative position between the mast beam 3 and the pulley frame assembly, the pulley frame assembly is hoisted through the counterweight 7 on the pulley frame assembly and the counterweight mounting position 9, self-disassembly of the counterweight 7 is realized, in the hoisting process of the pulley frame assembly and the counterweight 7, the hoisting part 6 or a lifting hook 11 of the pulley frame 5 can be adopted, and the hoisting part 6 can be a steel wire rope and/or a chain block.

Further, the counterweight 7 is moved to a counterweight pre-placing position 8 by adjusting the relative position of the mast beam 3 and the pulley frame assembly, so that the counterweight 7 is self-disassembled.

It should be noted that the counterweight self-disassembling method of the rotary drilling rig of the invention mainly generates different self-disassembling decisions based on different relative positions between the mast beam 3 and the pulley frame assembly, and realizes the self-disassembling of the counterweight 7 according to the mast beam 3 and the pulley frame assembly at different relative positions.

FIG. 2 is a schematic flow relationship diagram of a counterweight self-mounting method of the rotary drilling rig provided by the invention. As can be seen from FIG. 2, the invention provides a counterweight self-installation method of a rotary drilling rig, and the counterweight 7 of the rotary drilling rig is self-installed by utilizing a mast beam 3 and a pulley frame assembly of the rotary drilling rig. In practical application, the mast beam 3 is connected with the luffing mechanism 2, the pulley frame assembly is connected with the moving mechanism 4, wherein the luffing mechanism 2 is used for adjusting the amplitude of the mast beam 3, the moving mechanism 4 is connected with the mast beam 3, the pulley frame assembly is driven to slide along the extension direction of the mast beam 3, the position of the pulley frame assembly is further adjusted, the pulley frame assembly is moved to the counterweight pre-placing position 8 through adjustment of the relative position between the mast beam 3 and the pulley frame assembly, the pulley frame assembly is hoisted through the counterweight 7 on the pulley frame assembly and the counterweight pre-placing position 8, self-installation of the counterweight 7 is realized, in the hoisting process of the pulley frame assembly and the counterweight 7, the hoisting part 6 or the hoisting hook 11 of the pulley frame 5 can be adopted, and the hoisting part 6 can be a steel wire rope and/or a chain block.

Further, the counterweight 7 is moved to a counterweight mounting position 9 arranged on the main machine 1 by adjusting the relative position of the mast beam 3 and the pulley frame assembly, so that the self-mounting of the counterweight 7 is realized.

It should be noted that the counterweight self-disassembling method of the rotary drilling rig of the invention mainly generates different self-assembling decisions based on different relative positions between the mast beam 3 and the pulley frame assembly, and realizes self-assembling of the counterweight 7 according to the mast beam 3 and the pulley frame assembly at different relative positions.

Fig. 3 is a schematic structural relationship diagram of the rotary drilling rig provided by the invention. As can be seen from fig. 3, the rotary drilling rig comprises a main machine 1, a luffing mechanism 2, a mast beam 3, a moving mechanism 4, a pulley frame assembly and a plurality of counterweights 7, wherein a counterweight mounting position 9 for mounting the counterweights 7 is arranged on the main machine 1, and a counterweight pre-placing position 8 is further arranged on one side of the main machine 1.

Furthermore, the mast beam 3 is driven by the luffing mechanism 2, the pulley frame assembly is driven by the moving mechanism 4 to realize the adjustment of the relative position between the mast beam 3 and the pulley frame assembly, and further realize the adjustment and hoisting of the relative position between the pulley frame assembly and the counterweight 7, in the process of hoisting the counterweight 7 by the pulley frame assembly, the adjustment can be realized by the lifting hook 11 on the pulley frame 5, and can also be realized by the hoisting part 6, and the hoisting part 6 can be a steel wire rope and/or a chain block.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In some specific embodiments of the present invention, as shown in fig. 1, the scheme provides a counterweight self-disassembling method for a rotary drilling rig, including: acquiring the running state information of the host 1, and judging whether the running state of the host 1 meets a preset condition;

responding to the running state of the host 1 meeting the preset condition, acquiring the position state information of the mast beam 3 and the pulley frame assembly, and generating a self-disassembly decision for adjusting the amplitude of the mast beam 3 and the relative position between the pulley frame assembly and the mast beam 3 according to the position state information;

and executing a self-disassembly decision, and hoisting the balance weight 7 through the pulley frame assembly to realize the self-disassembly of the balance weight 7.

In detail, the invention provides a counterweight self-disassembling method of a rotary drilling rig, which is used for solving the defect that the rotary drilling rig in the prior art can be realized only by assistance of a crane in the process of disassembling a counterweight 7, and the safe and reliable hoisting of the counterweight 7 is realized by utilizing a mast beam 3 and a mast moving mechanism 4 of the rotary drilling rig, so that the use and dependence of a crane are reduced, and the purposes of quick disassembly and quick transition are achieved.

In some possible embodiments, the step of acquiring the driving state information of the host 1 and determining whether the driving state of the host 1 meets a preset condition specifically includes:

determining the current running state of the host 1, and determining that the running state of the host 1 meets the preset condition in response to the running speed of the host 1 being zero.

Specifically, the current running state of the main machine 1 is obtained, and the running speed is set to be zero, so that the preset condition is met, and the safe operation of the counterweight 7 in the disassembling process is ensured.

In some possible embodiments, the step of acquiring the position state information of the mast beam 3 and the trolley frame assembly in response to the driving state of the main machine 1 satisfying a preset condition, and generating a self-disassembly decision for adjusting the amplitude of the mast beam 3 and the relative position between the trolley frame assembly and the mast beam 3 according to the position state information specifically comprises:

acquiring current position information of the mast beam 3 and the pulley yoke assembly;

acquiring first disassembly environment information of a counterweight installation position 9;

in response to the mast beam 3 and the sheave frame assembly being at the preset positions, generating a self-disassembly decision according to preset position information of the preset positions and the first disassembly environment information;

in response to one of the mast beam 3 and the sheave frame assembly being in a preset position and the other being in a non-preset position, generating a self-disassembly decision according to preset position information of the preset position, non-preset position information of the non-preset position and the first disassembly environment information;

and generating a self-disassembly decision according to the non-preset position information of the non-preset position and the first disassembly environment information in response to the mast beam 3 and the pulley frame assembly being in the non-preset position.

Specifically, the current position information of the mast beam 3 and the pulley frame assembly is obtained, and the lifting scheme of the counterweight 7 is obtained according to the actual positions of the mast beam 3 and the pulley frame assembly, so that the counterweight 7 is self-disassembled.

It should be noted that, for obtaining the current position information of the mast beam 3 and the sheave frame assembly, the judgment can be made by a sensor or an operator according to the actual situation, and the invention is not limited too much here, and in the practical application, the selection is made according to the actual situation, and the specific setting can refer to the related setting in this area.

In an application scene, after the current position information of the mast beam 3 and the pulley frame assembly is obtained, the mast beam 3 is adjusted to rise or fall to a certain height through the amplitude variation mechanism 2, the height is based on the distance of the pulley frame assembly to the upper surface of the self-disassembly target counterweight 7 being 300mm, and after the pulley frame assembly is 300mm away from the upper surface of the counterweight 7, the amplitude variation mechanism 2 stops driving the mast beam 3; the pulley frame assembly is moved to the position near the counterweight 7 through the moving mechanism 4, and the hoisting between the pulley frame assembly and the counterweight 7 is realized through the hoisting part 6; after the hoisting part 6 hoists the balance weight 7 to be separated from the balance weight mounting position by 9100mm, the pulley frame assembly is moved away through the moving mechanism 4, and the balance weight 7 is moved according to the movement track planned in the self-disassembly decision through the moving mechanism 4, the pulley frame assembly, the mast beam 3 and the luffing mechanism 2.

It should be noted that in the present invention, the luffing mechanism 2 is used as a power mechanism of the mast beam 3, the moving mechanism 4 is used as a power mechanism of the pulley frame assembly, the adjustment of the relative position between the mast beam 3 and the pulley frame assembly is realized through the luffing mechanism 2 and the power mechanism, and the self-disassembly of the counterweight 7 in the relative position adjustment process of the mast beam 3 and the pulley frame assembly is realized by using the relative position between the mast beam 3 and the pulley frame assembly.

It should be noted that, because there is uncertainty in the positions of the mast beam 3 and the sheave frame assembly in the whole system, for example, the mast beam 3 and/or the sheave frame assembly do not return to the initial position after the operation, it is necessary to calculate the moving track of the mast beam 3 and the sheave frame assembly in the self-disassembling process of the counterweight 7 by the instant positions of the mast beam 3 and the sheave frame assembly, and plan different moving tracks according to the actual positions of the mast beam 3 and the sheave frame assembly, so as to generate the self-disassembling decision.

In some possible embodiments, after the step of performing a self-disassembly decision and hoisting the counterweight 7 by using the sheave frame assembly to achieve self-disassembly of the counterweight 7, the method specifically includes:

acquiring relative position information between the host 1 and the counterweight pre-placing position 8;

acquiring second disassembly environment information of the counterweight pre-placing position 8;

generating a disassembling and placing decision of the balance weight 7 at a balance weight pre-placing position 8 according to the relative position information and the second disassembling environment information;

and after executing the detachment and placement decision once, re-acquiring the relative position information and the second detachment environment information, and updating the detachment and placement decision.

Specifically, when the counterweight 7 is detached from the counterweight mounting position 9 of the main body 1, it needs to be placed at the counterweight pre-placing position 8; in the process of placing the counterweight 7, because the environment of the counterweight pre-placing position 8 may change or the distance between the host 1 and the counterweight pre-placing position 8 is different, the disassembly and placement strategy of the counterweight 7 is also affected, so that the environment of the counterweight pre-placing position 8 needs to be acquired in the process of placing the counterweight 7, and the disassembly and placement decision is generated according to the relative position between the host 1 and the counterweight pre-placing position 8, so that the counterweight 7 is placed in the counterweight pre-placing position 8.

It should be noted that the weights 7 may be arranged in parallel or stacked at the weight pre-placing position 8, so that after the weights 7 are placed, the environmental information of the weight pre-placing position 8 needs to be obtained again, and then the decision for detaching and placing the weights 7 is generated again according to the actual situation, so as to place the weights 7 at the weight pre-placing position 8.

In some specific embodiments of the present invention, as shown in fig. 2, the present invention provides a counterweight self-mounting method for a rotary drilling rig, including: acquiring the running state information of the host 1, and judging whether the running state of the host 1 meets a preset condition;

responding to the running state of the host 1 meeting the preset condition, acquiring relative position information between the host 1 and the counterweight pre-placing position 8, acquiring position state information of the mast beam 3 and the pulley frame assembly, and generating a self-installation decision for adjusting the amplitude of the mast beam 3 and the relative position between the pulley frame assembly and the mast beam 3 according to the relative position information and the position state information;

and executing a self-installation decision, and hoisting the balance weight 7 through the pulley frame assembly to realize the self-installation of the balance weight 7.

In detail, the invention also provides a counterweight self-mounting method of the rotary drilling rig, which is used for solving the defect that the rotary drilling rig in the prior art can be realized only by assistance of a crane in the counterweight 7 mounting process, and the safe and reliable hoisting of the counterweight 7 is realized by utilizing the mast beam 3 and the mast moving mechanism 4 of the rotary drilling rig, so that the use and dependence of the crane are reduced, and the quick mounting is realized.

In some possible embodiments, the step of acquiring the driving state information of the host 1 and determining whether the driving state of the host 1 meets a preset condition specifically includes:

and acquiring the current running state of the host 1, and judging that the running state of the host 1 meets the preset condition in response to the fact that the running speed of the host 1 is zero.

Specifically, the current running state of the main machine 1 is obtained, and the running speed is set to be zero, so that the preset condition is met, and the safe operation of the counterweight 7 in the disassembling process is ensured.

In some possible embodiments, in response to the traveling state of the main machine 1 satisfying a preset condition, the steps of acquiring relative position information between the main machine 1 and the counterweight pre-placement position 8, acquiring position state information of the mast beam 3 and the sheave assembly, and generating a self-installation decision according to the relative position information and the position state information specifically include:

acquiring relative position information between the host 1 and the counterweight pre-placing position 8;

acquiring first installation environment information of a counterweight pre-placing position 8;

acquiring current position information of the mast beam 3 and the pulley yoke assembly;

in response to the mast beam 3 and the sheave frame assembly being at the preset positions, generating a self-installation decision according to preset position information, relative position information and first installation environment information of the preset positions;

in response to one of the mast beam 3 and the sheave frame assembly being in a preset position and the other being in a non-preset position, generating a self-installation decision according to preset position information of the preset position, non-preset position information of the non-preset position, relative position information, and first installation environment information;

and responding to the situation that the mast beam 3 and the pulley frame assembly are both in the non-preset positions, and generating a self-installation decision according to the non-preset position information, the relative position information and the first installation environment information of the non-preset positions.

Specifically, in the process of generating the self-installation decision, since the environment of the counterweight pre-placing position 8 may change or the self-installation decision of the counterweight 7 may be affected by the difference in distance between the host 1 and the counterweight pre-placing position 8, the environment of the counterweight pre-placing position 8 needs to be acquired in the process of hoisting the counterweight 7, and the self-installation decision is generated according to the relative position between the host 1 and the counterweight pre-placing position 8, so that the counterweight 7 is hoisted.

It should be noted that the counter weights 7 may be arranged in parallel or stacked at the counter weight pre-placing position 8, so after the counter weights 7 are hoisted, the environmental information of the counter weight pre-placing position 8 needs to be acquired again, and further, the self-installation decision of the counter weights 7 is regenerated according to the actual situation, and further, the counter weights 7 are continuously hoisted until all the counter weights 7 required by the host 1 are installed.

It should be further noted that, by acquiring the current position information of the mast beam 3 and the sheave frame assembly, a hoisting scheme for the counterweight 7 is obtained according to the actual positions of the mast beam 3 and the sheave frame assembly, and further, the self-installation of the counterweight 7 is realized.

In practical application, the current position information of the mast beam 3 and the pulley frame assembly can be obtained through judgment of a sensor or an operator according to actual conditions, the invention is not limited to a large extent, the selection is carried out according to the actual conditions, and the specific arrangement can refer to the relevant arrangement in the field.

In an application scene, acquiring current position information of a mast beam 3 and a pulley frame assembly, relative position information between a host 1 and a counterweight pre-placing position 8, and acquiring first installation environment information of the counterweight pre-placing position 8, generating a self-installation decision according to the three information, and realizing the hoisting of a counterweight 7, wherein the specific process is as follows: the mast beam 3 is adjusted to rise or fall to a certain height through the amplitude-changing mechanism 2, the height is based on the distance of the pulley frame assembly from the upper surface of the installation target counterweight 7 by 300mm, and after the distance of the pulley frame assembly from the upper surface of the counterweight 7 by 300mm, the amplitude-changing mechanism 2 stops driving the mast beam 3; the pulley frame assembly is moved to the position near the counterweight 7 through the moving mechanism 4, and the hoisting between the pulley frame assembly and the counterweight 7 is realized through the hoisting part 6; after the hoisting part 6 lifts the counterweight 7 to leave the counterweight pre-placing position 8100mm, the pulley frame assembly is moved away through the moving mechanism 4, and the counterweight 7 moves according to the movement track planned in the self-installation decision through the moving mechanism 4, the pulley frame assembly, the mast beam 3 and the amplitude variation mechanism 2.

It should be noted that in the present invention, the luffing mechanism 2 is used as a power mechanism of the mast beam 3, the moving mechanism 4 is used as a power mechanism of the pulley frame assembly, the adjustment of the relative position between the mast beam 3 and the pulley frame assembly is realized through the luffing mechanism 2 and the power mechanism, and the self-installation of the counterweight 7 in the relative position adjustment process of the mast beam 3 and the pulley frame assembly is realized by using the relative position between the mast beam 3 and the pulley frame assembly.

It should be noted that, because there is uncertainty in the positions of the mast beam 3 and the sheave frame assembly in the whole system, for example, the mast beam 3 and/or the sheave frame assembly do not return to the initial position after the operation, it is necessary to calculate the moving track of the mast beam 3 and the sheave frame assembly in cooperation during the self-installation of the counterweight 7 through the instant positions of the mast beam 3 and the sheave frame assembly, and plan different moving tracks according to the actual positions of the mast beam 3 and the sheave frame assembly, so as to generate the self-installation decision.

In some possible embodiments, the step of performing a self-installation decision to achieve self-installation of the counterweight 7 by the mast beam 3 and the sheave frame assembly specifically includes:

acquiring second installation environment information of the counterweight installation position 9;

generating a mounting and placing decision of the counterweight 7 at a counterweight mounting position 9 according to the self-mounting decision and the second mounting environment information;

and after the installation and placement decision is executed once, acquiring the second installation environment information again, and updating the installation and placement decision.

Specifically, after the counterweight 7 is lifted from the counterweight pre-placing position 8, the counterweight 7 needs to be placed at a counterweight installing position 9 of the host machine 1 so as to realize self-installation of the counterweight 7; in the installation process of the counterweight 7, because the environment of the counterweight installation position 9 changes, for example, after a plurality of counterweights 7 are stacked, the placement height of the counterweight 7 by the counterweight installation position 9 changes, so that the information of the counterweight installation position 9 needs to be continuously acquired in the installation process of the counterweight 7, and every time the counterweight 7 is installed at the counterweight installation position 9, the environment information of the counterweight installation position 9 is acquired again, and the installation placement decision of the counterweight 7 is regenerated.

In some specific embodiments of the present invention, as shown in fig. 3, a rotary drilling rig provided by the present invention includes: the device comprises a host 1, a luffing mechanism 2, a mast beam 3, a moving mechanism 4, a pulley yoke assembly and a plurality of counterweights 7; the amplitude variation mechanism 2 is respectively connected with the main machine 1 and the mast beam 3 and is used for driving the amplitude variation of the mast beam 3; the moving mechanism 4 is arranged on the mast beam 3, is connected with the pulley frame assembly and is used for driving the pulley frame assembly to move along the extension direction of the mast beam 3; a plurality of counterweights 7 are connected with the main machine 1; when the counterweight 7 is disassembled, the counterweight self-disassembling method of the rotary drilling rig is executed, or when the counterweight 7 is installed, the counterweight self-installing method of the rotary drilling rig is executed.

In detail, the invention further provides a rotary drilling rig, which is used for solving the defect that the rotary drilling rig in the prior art can be realized only by assistance of a crane in the process of disassembling the counterweight 7, and the safe and reliable hoisting of the counterweight 7 is realized by utilizing the mast beam 3 and the mast moving mechanism 4 of the rotary drilling rig.

In some possible embodiments, the sheave frame assembly further includes: a pulley yoke 5 and a sliding seat 10; the sliding seat 10 is installed on the moving mechanism 4, and the pulley yoke 5 is connected with the sliding seat 10, wherein the pulley yoke 5 is used for hoisting the counterweight 7;

alternatively, the sheave frame assembly further includes: the pulley frame 5, the sliding seat 10 and the hoisting part 6, wherein the sliding seat 10 is installed on the moving mechanism 4, the pulley frame 5 is connected with the sliding seat 10, the sliding seat 10 is provided with a lifting hook 11, and the hoisting part 6 is connected with the lifting hook 11 or the sliding seat 10; wherein, the hoisting part 6 is a chain block and/or a steel wire rope for hoisting the counterweight 7.

Particularly, this embodiment provides two kinds of pulley frame set spare and carries out the implementation mode of hoist and mount to counter weight 7, one is that the hoist and mount to counter weight 7 is realized to lifting hook 11 self through pulley yoke 5, and it is second through being connected hoist and mount portion 6 and pulley seat 10 or lifting hook 11, has realized hoist and mount portion 6 and can move along with pulley yoke 5's removal, and then sets hoist and mount portion 6 into chain block and/or wire rope, and corresponding be provided with on counter weight 7 with hoist and mount portion 6 complex coupler body, realize hoisting to counter weight 7.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.