CN106437561A - Angle-adjustable type large mechanical hand device - Google Patents
Angle-adjustable type large mechanical hand device Download PDFInfo
- Publication number
- CN106437561A CN106437561A CN201611102306.3A CN201611102306A CN106437561A CN 106437561 A CN106437561 A CN 106437561A CN 201611102306 A CN201611102306 A CN 201611102306A CN 106437561 A CN106437561 A CN 106437561A
- Authority
- CN
- China
- Prior art keywords
- rods
- rack
- frame
- drilling rod
- mechanical hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
Abstract
The invention discloses an angle-adjustable type large mechanical hand device which comprises a machine frame, a drill rod frame and a mechanical hand, wherein the drill rod frame is used for placing a drill rod, and the mechanical hand is used for capturing the drill rod. One end of the drill rod frame is rotatably connected with the end of the machine frame, the machine frame is provided with an oil cylinder for driving the drill rod frame to rotate around the end of the machine frame, the free end of a piston of the oil cylinder is connected with the drill rod frame, and one end of the machine frame connected with the drill rod frame is provided with the mechanical hand. Through the angle-adjustable type large mechanical hand device, drill rod lifting and drill rod descending operation is performed; during drill rod lifting and descending, a host can still operate, the construction period is shortened, and the cost is reduced. Besides, automatic drill rod lifting and descending is performed, manual work is not required, and the safety performance is high.
Description
Technical field
The invention belongs to robot device, is more particularly to a kind of angle adjustable formula big machinery arm device.
Background technology
Horizontal directional drilling machine is application trenchless technology, gets out pilot hole by using many drilling rods, and through one-level one
Level ground reaming, hauling pipe complete underground or lay pipeline under water.At present, large-scale horizontal directional drilling machine be mostly by hanging with car straight-arm
Car lifting, three people are at least needed while working, and the efficiency of upper and lower drilling rod and its lowly, it is long due to above unloading the drilling rod time,
Host work is caused to pause so that the whole duration lengthens, and cost remains high；In addition, boring because a people helps when drilling rod is lifted
Bar stands in rig crossbeam eminence, there is serious potential safety hazard.
Content of the invention
It is an object of the invention to provide a kind of preferable angle adjustable formula large scale computer of the higher and security performance of work efficiency
Tool arm device.
According to an aspect of the invention, there is provided a kind of angle adjustable formula big machinery arm device, including frame, use
Mechanical hand in the rack for rods for placing drilling rod and for capturing drilling rod, one end of the rack for rods is by the end with the frame
Connection is rotated, the frame is provided with the oil cylinder for driving rack for rods to rotate, the piston freedom of the oil cylinder around Frame end
End is connected with the rack for rods, and one end that the frame is connected with the rack for rods is provided with mechanical hand.Realized by the present invention
Drilling rod and the work of lower drilling rod, in upper and lower drilling rod, main frame can work on, the reduction of erection time, reduces cost；Also, the present invention is certainly
Upper and lower drilling rod is moved, without the need for manually, security performance is higher.
In some embodiments, the mechanical hand includes fixed arm and cursor, and the fixed arm is with the frame even
Connect, the cursor is rotated with the fixed arm and is connected.Thus mechanical hand can be with adjustment angle.
In some embodiments, the handgrip of cursor is provided with the clamp for clamping drilling rod.Mechanical hand is made to firmly grasp drilling rod,
Prevent mechanical hand drilling rod landing when adjustment angle is rotated.
In some embodiments, the frame includes the square frame body being connected and supporting leg, the square frame body and described
Supporting leg is vertically arranged.Supporting leg has certain height, is easy to the fixed arm of later stage installation manipulator.
In some embodiments, the end of the square frame body is provided with fixed seat, and the end of the rack for rods is provided with rotation
Plate, the free end of the rotor plate is rotated by bolt with the fixed seat and is connected.Rack for rods is achieved in respect to frame
Rotate connection.
In some embodiments, first crossbeam being horizontally set with the middle part of the square frame body and having constituted day font, the oil cylinder has been installed
On the first crossbeam.So that oil cylinder can drive rack for rods rotate around the end of frame.
In some embodiments, one end that the square frame body is connected with rack for rods is additionally provided with two installation supporting legs, institute
The end for stating fixed arm is fixedly connected on two installation supporting legs.Thus grab height and position of the cursor in being suitable for
Take drilling rod.
In some embodiments, the two ends of the rack for rods are provided with the pin for stopping drilling rod.When rack for rods is inclined
When, lever prevents drilling rod landing.
Description of the drawings
Fig. 1 is a kind of descending schematic diagram of angle adjustable formula big machinery arm device of an embodiment of the present invention；
Fig. 2 is a kind of angle adjustable formula large-scale manipulator arm assembly crawl drilling rod signal of an embodiment of the present invention
Figure；
Fig. 3 is a kind of angle adjustable formula large-scale manipulator arm assembly crawl drilling rod up of an embodiment of the present invention
Schematic diagram；
Fig. 4 is a kind of up and adjustment angle of angle adjustable formula large-scale manipulator arm assembly of an embodiment of the present invention
Upset schematic diagram；
Fig. 5 be an embodiment of the present invention a kind of angle adjustable formula large-scale manipulator arm assembly under drilling rod signal
Figure.
Specific embodiment
Fig. 1-5 schematically shows the angle adjustable formula large-scale manipulator arm assembly of one embodiment of the present invention.
As Figure 1-5, angle adjustable formula big machinery arm device include frame 1, for placing the rack for rods 2 of drilling rod and for grabbing
Take the mechanical hand 3 of drilling rod.
Frame 1 is the square frame body 12 with supporting leg 11, and square frame body 12 is vertically arranged with supporting leg 11.Supporting leg 11 has
Certain height, is easy to the fixed arm 31 of later stage installation manipulator 3.Frame 1 limits rack for rods 2 and mechanical hand 3 except playing
Position effect is outer, is additionally operable to supports drill rods frame 2 and mechanical hand 3, needs certain fastness.In order to increase the fastness of frame 1, support
Fixed cross beam 111 is provided between lower limb 11, and fixed cross beam 111 is vertically arranged with supporting leg 11.Rack for rods 2 is located at the top of frame 1.
One end of rack for rods 2 is rotated with one end of frame 1 and is connected.Specifically, frame 1 is provided with fixation towards the end of 2 one side of rack for rods
Seat 13, rack for rods 2 is provided with rotor plate 21 towards the end of 1 one side of frame.The free end of rotor plate 21 passes through spiral shell with fixed seat 13
Bolt 22 rotates connection, connects with respect to the rotation of frame 1 so as to realize rack for rods 2..Frame 1 is provided with oil cylinder 4.The work of oil cylinder 4
Plug free end is connected with rack for rods 2.Specifically, oil cylinder 4 is installed in the medium position of frame 1.Specifically, the middle part of square frame body 12
First crossbeam (in figure is not marked) is provided with, square frame body 12 constitutes day font with first crossbeam, oil cylinder 4 is arranged on first crossbeam,
So that oil cylinder 4 can drive rack for rods 2 rotate around the end of frame 1.The piston of oil cylinder 4 is connected with the medium position of rack for rods 2.
Oil cylinder 4 is enable to drive rack for rods 2 to be rotated along the end of frame 1.One end that frame 1 is connected with drilling rod machine is provided with machinery
Handss 3.Mechanical hand 3 includes fixed arm 31 and cursor 32.Fixed arm 31 is rotated with cursor 32 and is connected, in the situation for not having to stop
Under, cursor 32 can be rotated at any angle around fixed arm 31, be easy to 3 adjustment angle of mechanical hand.Fixed arm 31 and cursor
32 rotation connection belongs to the technology known to those skilled in the art, and here is not stated tired.Fixed arm 31 is connected with frame 1, frame 1
Two installation supporting legs 14 are also additionally provided with one end of installation manipulator 3, supporting leg 14 are installed and are be arranged in parallel with supporting leg 11.
The fixed arm 31 of mechanical hand 3 is fixedly mounted on two installation supporting legs 14 that in addition this arranged.Specifically, two support is installed
Be provided with second cross beam 141 between lower limb 14, one end of fixed arm 31 is fixed and is set on second cross beam 141, fixed arm 31 firm
Motionless, it is easy to cursor 32 that the angle of adjustment drilling rod 5 is rotated, and makes height and position crawl drilling rod of the cursor 32 in being suitable for
5.The free end of cursor 32 is provided with handgrip 321, is easy to pick up drilling rod 5, in addition, the square frame body 11 of frame 1 facilitates handgrip 321
The lower section for extending into drilling rod 5 is captured, and simplifies operation, improves work efficiency.When mechanical hand 3 captures 5 adjustment angle of drilling rod,
In order to the handgrip 321 for preventing the landing of drilling rod 5, cursor 32 is provided with the clamp 322 for clamping drilling rod, when handgrip 321 is captured
During drilling rod 5, drilling rod 5 is clamped.
On carrying out during drilling rod operation, rack for rods is rotated towards mechanical hand in the presence of oil cylinder, the drilling rod on rack for rods
As the effect of gravity is near mechanical hand, it is easy to the crawl of mechanical hand.When the operation of lower drilling rod is carried out, rack for rods is in the work of oil cylinder
Rotated from mechanical hand with lower back, be easy to mechanical hand that the drilling rod of crawl is placed in frame.
As Figure 1-4, the present invention is on carrying out during drilling rod operation, and the piston of oil cylinder 4 stretches out and acts on rack for rods 2, makes
The end that rack for rods 2 is connected with rack for rods 2 around frame 1 turns to rack for rods 2 and inclines towards mechanical hand 3, on rack for rods 2
Drilling rod 5 is as the effect of gravity is near mechanical hand, and after a drilling rod 5 is picked up, next drilling rod 5 is due to action of gravity
It is again adjacent to mechanical hand 3 so that grasping movement simplicity.After drilling rod 5 is picked up by mechanical hand 4, by adjusting cursor 32 by drilling rod 5
Adjust to parallel with crossbeam 6, then again drilling rod 5 is placed on unit head center 7, so as to complete the operation of upper drilling rod.
As shown in figure 5, the present invention is when the operation of lower drilling rod is carried out, the piston retractile action of oil cylinder 4 makes brill in rack for rods 2
The end that bridge 2 is connected with rack for rods 2 around frame 1 turns to dorsad mechanical hand 3 and inclines, then grabs drilling rod 5 by mechanical hand 3
Return and be placed on rack for rods.Drilling rod 5 is concentrated on away from one end of handgrip 3, after being on rack for rods 2 due to the effect of gravity
Drilling rod 5 to be placed provides space, simplifies operation.
Due to the inclination of rack for rods 2, in order to 5 landing of drilling rod on rack for rods 2 is prevented, shelves are provided with the two ends of rack for rods 2
Bar 23, for stopping drilling rod 5.In this embodiment, rack for rods 2 is square frame shaped, at four angles of the rack for rods of square frame shaped
On be respectively provided with a lever 23.
Worked by drilling rod in present invention realization and lower drilling rod, in upper and lower drilling rod, main frame can work on, shorten work
Phase, reduces cost；Also, the automatic drilling rod up and down of the present invention, without the need for artificial handrail, security performance is higher.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, do not paying
On the premise of going out creative work, some deformation can also be made and improved, these belong to protection scope of the present invention.
Claims (8)
1. a kind of angle adjustable formula big machinery arm device, it is characterised in that including frame, for placing the rack for rods of drilling rod
With for capturing the mechanical hand of drilling rod, one end of the rack for rods is rotated by the end with the frame and is connected, the frame
The oil cylinder being provided with for driving rack for rods to rotate around Frame end, the piston free end of the oil cylinder is with the rack for rods even
Connect, one end that the frame is connected with the rack for rods is provided with mechanical hand.
2. angle adjustable formula big machinery arm device according to claim 1, it is characterised in that the mechanical hand includes
Fixed arm and cursor, the fixed arm is fixedly connected with the frame, and the cursor is rotated with the fixed arm and is connected.
3. angle adjustable formula big machinery arm device according to claim 2, it is characterised in that the grabbing of the cursor
Handss are provided with the clamp for clamping drilling rod.
4. angle adjustable formula big machinery arm device according to claim 2, it is characterised in that the frame includes phase
The square frame body of connection and supporting leg, the square frame body and the supporting leg are vertically arranged.
5. angle adjustable formula big machinery arm device according to claim 4, it is characterised in that the end of the square frame body
Portion is provided with fixed seat, and the end of the rack for rods is provided with rotor plate, and the free end of the rotor plate passes through spiral shell with the fixed seat
Bolt rotates connection.
6. angle adjustable formula big machinery arm device according to claim 4, it is characterised in that in the middle part of the square frame body
First crossbeam has been horizontally set with it and day font has been constituted, the oil cylinder is on the first crossbeam.
7. angle adjustable formula big machinery arm device according to claim 4, it is characterised in that the square frame body and brill
One end of bridge connection is additionally provided with two installation supporting legs, and the end of the fixed arm is fixedly connected on two described installations and supports
On lower limb.
8. angle adjustable formula big machinery arm device according to claim 1, it is characterised in that the two of the rack for rods
End is provided with the pin for stopping drilling rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611102306.3A CN106437561A (en) | 2016-12-02 | 2016-12-02 | Angle-adjustable type large mechanical hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611102306.3A CN106437561A (en) | 2016-12-02 | 2016-12-02 | Angle-adjustable type large mechanical hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106437561A true CN106437561A (en) | 2017-02-22 |
Family
ID=58223260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611102306.3A Pending CN106437561A (en) | 2016-12-02 | 2016-12-02 | Angle-adjustable type large mechanical hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106437561A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106761488A (en) * | 2017-03-16 | 2017-05-31 | 中煤科工集团重庆研究院有限公司 | A kind of coal mine drilling machine drill stem conveying device |
| CN107605416A (en) * | 2017-10-30 | 2018-01-19 | 江苏谷登工程机械装备有限公司 | A kind of rotary machine hand |
| CN109577886A (en) * | 2018-10-23 | 2019-04-05 | 中煤科工集团西安研究院有限公司 | It is a kind of suitable for underground coal mine drilling machine automatic plus to unload lever apparatus |
| CN112240167A (en) * | 2020-10-15 | 2021-01-19 | 西安乔木科技技术有限公司 | Automatic drill rod loading and unloading device of horizontal directional drill and construction method thereof |
| CN113931585A (en) * | 2021-10-13 | 2022-01-14 | 中煤科工集团重庆研究院有限公司 | Drill pipe case is stacked with unordered to colliery rig |
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|---|---|---|---|---|
| SU985246A1 (en) * | 1980-11-24 | 1982-12-30 | Донецкий государственный проектно-конструкторский и экспериментальный институт комплексной механизации шахт | Drill rod magazine |
| CN2775283Y (en) * | 2005-03-05 | 2006-04-26 | 柳州市华力实业有限责任公司 | Parallel oriented drill rig drill rod box with crane latch device |
| CN201763278U (en) * | 2010-09-09 | 2011-03-16 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Hydraulic control system for rod stand in multi-drilling rod load-unload system |
| CN203066863U (en) * | 2012-12-18 | 2013-07-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Mechanical arm of raise boring machine clamping drilling stem |
| CN103244061A (en) * | 2012-02-09 | 2013-08-14 | 上海振华重工(集团)股份有限公司 | Automatic discharge pipe connecting pipe system and drill rod automatic rollover mechanism thereof |
| CN204546522U (en) * | 2015-02-13 | 2015-08-12 | 江苏谷登工程机械装备有限公司 | A kind of rack-and-pinion manipulator |
| CN206319846U (en) * | 2016-12-02 | 2017-07-11 | 江苏谷登工程机械装备有限公司 | A kind of angle adjustable formula big machinery arm device |
-
2016
- 2016-12-02 CN CN201611102306.3A patent/CN106437561A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU985246A1 (en) * | 1980-11-24 | 1982-12-30 | Донецкий государственный проектно-конструкторский и экспериментальный институт комплексной механизации шахт | Drill rod magazine |
| CN2775283Y (en) * | 2005-03-05 | 2006-04-26 | 柳州市华力实业有限责任公司 | Parallel oriented drill rig drill rod box with crane latch device |
| CN201763278U (en) * | 2010-09-09 | 2011-03-16 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Hydraulic control system for rod stand in multi-drilling rod load-unload system |
| CN103244061A (en) * | 2012-02-09 | 2013-08-14 | 上海振华重工(集团)股份有限公司 | Automatic discharge pipe connecting pipe system and drill rod automatic rollover mechanism thereof |
| CN203066863U (en) * | 2012-12-18 | 2013-07-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Mechanical arm of raise boring machine clamping drilling stem |
| CN204546522U (en) * | 2015-02-13 | 2015-08-12 | 江苏谷登工程机械装备有限公司 | A kind of rack-and-pinion manipulator |
| CN206319846U (en) * | 2016-12-02 | 2017-07-11 | 江苏谷登工程机械装备有限公司 | A kind of angle adjustable formula big machinery arm device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106761488A (en) * | 2017-03-16 | 2017-05-31 | 中煤科工集团重庆研究院有限公司 | A kind of coal mine drilling machine drill stem conveying device |
| CN107605416A (en) * | 2017-10-30 | 2018-01-19 | 江苏谷登工程机械装备有限公司 | A kind of rotary machine hand |
| CN109577886A (en) * | 2018-10-23 | 2019-04-05 | 中煤科工集团西安研究院有限公司 | It is a kind of suitable for underground coal mine drilling machine automatic plus to unload lever apparatus |
| CN112240167A (en) * | 2020-10-15 | 2021-01-19 | 西安乔木科技技术有限公司 | Automatic drill rod loading and unloading device of horizontal directional drill and construction method thereof |
| CN112240167B (en) * | 2020-10-15 | 2023-01-24 | 西安乔木科技技术有限公司 | Automatic drill rod loading and unloading device of horizontal directional drill and construction method thereof |
| CN113931585A (en) * | 2021-10-13 | 2022-01-14 | 中煤科工集团重庆研究院有限公司 | Drill pipe case is stacked with unordered to colliery rig |
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Legal Events
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |