CN109403891A - Manipulator is used in a kind of dismounting of borer drill rod - Google Patents
Manipulator is used in a kind of dismounting of borer drill rod Download PDFInfo
- Publication number
- CN109403891A CN109403891A CN201811091586.1A CN201811091586A CN109403891A CN 109403891 A CN109403891 A CN 109403891A CN 201811091586 A CN201811091586 A CN 201811091586A CN 109403891 A CN109403891 A CN 109403891A
- Authority
- CN
- China
- Prior art keywords
- oil cylinder
- articulated
- hinged
- cylinder
- manipulator
- 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.)
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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
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
Abstract
A kind of borer drill rod dismounting manipulator of the present invention, swing mechanism (3) at the top of pedestal (1) is equipped with bracket (2), telescoping mechanism (4) passes through the pin shaft being laterally arranged and is articulated on bracket (2), balance element (6) are installed on the telescopic arm of the telescoping mechanism (4), the cylinder seat of diagonal brace oil cylinder (5) is articulated with bracket (2), and the telescopic arm of diagonal brace oil cylinder (5) is articulated on telescoping mechanism (4)；Above-mentioned balance element (6) is hinged with connector (7) by a pin shaft being laterally arranged, the connector (7) is hinged by a vertically arranged pin shaft with binding clasp (9), the cylinder seat of balancing cylinder (8) is articulated on balance element (6), the telescopic arm of the balancing cylinder (8) is hinged with connector (7), and the binding clasp (9) is U-shaped structure.A kind of borer drill rod dismounting manipulator of the present invention, structure is simple and convenient to operate and disassembly efficiency is high, does not damage power head.
Description
Technical field
The present invention relates to a kind of manipulators, more particularly, to a kind of for carrying out fast assembling-disassembling to drilling rod used on drilling machine
Manipulator, belong to offshore wind farm technical field of construction.
Background technique
Currently, in the wind power construction of ocean, large diameter single pile embedding in rock technique is using more and more extensive, and wherein bore operation is
A very crucial link is needed as drilling depth constantly deepens by installing a section drilling rod in entire engineering
Come the continuous extension for lengthening drilling tool to realize drilling depth.It is also required to mention by dismantling a section drilling rod after drilling
Rise taking-up drilling tool；Therefore dismounting drilling rod is a repetitive rate height and an important link in drilling construction.
Conventional embedding rock drilling device dismounting drilling rod lifts by crane the peace that a drilling rod is placed on embedding rock drilling machine equipment by crane
It fills on station, at this time drilling rod and the angled angle of horizontal plane, while sealing flatcar and clamping drilling rig, disassembly fastening spiral shell
Bolt disengages power head and is increased to certain altitude, and the swinging oil cylinder for then operating embedding rock drilling machine power head puts power head
A dynamic angle matches with drill pipe angle, and operation lifting cylinder docks the reduction of power grease head highness with drilling rod mounting surface, docks
After start that fastening bolt is installed, lifting cylinder is operated after fastening makes power head be increased to certain altitude, and drilling rod is detached from
Station is installed, the swinging oil cylinder for then operating embedding rock drilling machine power head makes power head restore vertical state, operates lifting cylinder
It reduces power grease head highness by the drilling rig for going docking sealing flatcar to clamp, fastening bolt is installed after docking, makes its connection
Together, the process for installing a drilling rod at this time is completed；The reverse operating if dismounting drilling rod.
Above-mentioned dismounting drilling rod mode, not only process complexity is cumbersome, low efficiency, and power head also needs the function of swing angle
Can, cause device structure complicated, design and manufacture cost is high.
Summary of the invention
It is simple and convenient to operate the purpose of the present invention is to overcome the above shortcomings and to provide a kind of structure and disassembly efficiency is high, no
Manipulator is used in the borer drill rod dismounting of damage power head.
The object of the present invention is achieved like this:
A kind of borer drill rod dismounting manipulator, the manipulator includes pedestal, the rotation mechanism returned at the top of the pedestal
Bracket is installed, telescoping mechanism passes through the pin shaft being laterally arranged and is articulated on bracket, installs on the telescopic arm of the telescoping mechanism
There is balance element, the cylinder seat of diagonal brace oil cylinder is articulated with bracket, and the telescopic arm of diagonal brace oil cylinder is articulated on telescoping mechanism；
Above-mentioned balance element is hinged with connector by a pin shaft being laterally arranged, and the connector is vertically arranged by one
Pin shaft is hinged with binding clasp, and the cylinder seat of balancing cylinder is articulated on balance element, the telescopic arm and connector of the balancing cylinder
It is hinged, the cylinder seat of oscillating oil cylinder is articulated with connector, and telescopic arm and the binding clasp of the oscillating oil cylinder are hinged, the clamping
Device is U-shaped structure, and transverse arm is hinged on the U-shaped opening end of binding clasp, and multiple rollings are provided on the binding clasp and transverse arm
Part；Horizon sensor is installed on the binding clasp.
Manipulator is used in a kind of borer drill rod dismounting of the present invention；The telescoping mechanism is the box beam knot for being built-in with telescopic oil cylinder
Structure, and telescopic oil cylinder obtains cylinder seat and piston rod is hinged with fixed arm and telescopic arm respectively；The telescopic arm of above-mentioned diagonal brace oil cylinder
It is articulated on the fixed arm of telescoping mechanism.
A kind of borer drill rod dismounting manipulator of the present invention, the bottom of the bracket is rotatablely installed by rotating shaft in pedestal
On, it is fixed with a fixed gear ring, and rotating shaft and fixed gear ring coaxial arrangement on the pedestal, deceleration is installed on the bracket
Motor, the output shaft of the decelerating motor are set with driving gear vertically downwards, and the driving gear is meshed with fixed gear ring.
A kind of borer drill rod of the present invention, which dismounts, uses manipulator, is equipped with operation horizontal platen on the binding clasp.
A kind of borer drill rod dismounting manipulator of the present invention, the diagonal brace oil cylinder are symmetrically set with two groups.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is compared to conventional embedding rock drilling machine equipment, using the conventional artificial handling side of manipulator operation mode substitution
Formula simplifies operating process, improves operating efficiency, and does not need power head swing angle during whole operation, thus
Facilitate the service life of extension power head；And in operation, operator directly on job platform to stacks,
Bolt is installed, convenient intuitive, the oscillating oil cylinder on binding clasp can easily rotate drilling rod, in conjunction with rolling member with right
Quasi- bolt mounting holes position improves the reliability of connection to improve installation accuracy and efficiency.
Detailed description of the invention
Fig. 1 is the schematic perspective view that manipulator is used in a kind of borer drill rod dismounting of the present invention.
Fig. 2 is the side view that manipulator is used in a kind of borer drill rod dismounting of the present invention.
Fig. 3 is a kind of D-D cross-sectional view of Fig. 2 of borer drill rod dismounting manipulator of the present invention.
Fig. 4 is partial enlarged view (the removal change oil at a kind of binding clasp of borer drill rod dismounting manipulator of the present invention
Cylinder and operation horizontal platen).
Fig. 5 is the partial enlarged view at a kind of binding clasp of borer drill rod dismounting manipulator of the present invention.
Fig. 6 is a kind of A-A cross-sectional view of Fig. 5 of borer drill rod dismounting manipulator of the present invention.
Fig. 7 is a kind of B-B cross-sectional view of Fig. 5 of borer drill rod dismounting manipulator of the present invention.
Fig. 8 is a kind of C-C cross-sectional view of Fig. 5 of borer drill rod dismounting manipulator of the present invention.
Fig. 9 is a kind of rolling member of borer drill rod dismounting manipulator of the present invention and the partial enlargement diagram of drilling rod.
Figure 10 is the status diagram in the present invention on manipulator when people.
Status diagram when Figure 11 is robot alignment drilling rod in the present invention.
Status diagram when Figure 12 is manipulator crawl drilling rod in the present invention.
Status diagram when Figure 13 is manipulator drilling rod disengaging pedestal in the present invention.
Status diagram when Figure 14 is manipulator drilling rod connection in the present invention.
Figure 15 leaves status diagram when drilling rod for manipulator in the present invention.
Wherein:
Drilling rod 101；
Pedestal 1, bracket 2, swing mechanism 3, telescoping mechanism 4, diagonal brace oil cylinder 5, balance element 6, connector 7, balancing cylinder 8,
Binding clasp 9, oscillating oil cylinder 10, transverse arm 11, operation horizontal platen 12, rolling member 13；
Decelerating motor 3.1, driving gear 3.2, rotating shaft 3.3, fixed gear ring 3.4.
Specific embodiment
Referring to Fig. 1~15, a kind of borer drill rod dismounting manipulator of the present invention, the manipulator includes pedestal
1, the swing mechanism 3 at 1 top of pedestal is equipped with bracket 2, and telescoping mechanism 4 passes through the pin shaft being laterally arranged and is articulated with bracket 2
On, balance element 6 is installed, diagonal brace oil cylinder 5 is symmetrically set with two groups, and diagonal brace oil on the telescopic arm of the telescoping mechanism 4
The cylinder seat of cylinder 5 is articulated with bracket 2, and the telescopic arm of diagonal brace oil cylinder 5 is articulated on telescoping mechanism 4；
Above-mentioned balance element 6 is hinged with connector 7 by a pin shaft being laterally arranged, and the connector 7 is vertically set by one
The pin shaft set is hinged with binding clasp 9, and the cylinder seat of balancing cylinder 8 is articulated on balance element 6, the telescopic arm of the balancing cylinder 8
It is hinged with connector 7, the cylinder seat of oscillating oil cylinder 10 is articulated with connector 7, the telescopic arm and binding clasp 9 of the oscillating oil cylinder 10
It is hinged, the binding clasp 9 is U-shaped structure, and transverse arm 11 is hinged on the U-shaped opening end of binding clasp 9,9 He of binding clasp
Multiple rolling members 13 are provided on transverse arm 11；
Specifically, the telescoping mechanism 4 is the box-beam structure for being built-in with telescopic oil cylinder, and telescopic oil cylinder obtains cylinder seat and work
Stopper rod is hinged with fixed arm and telescopic arm respectively；The telescopic arm of above-mentioned diagonal brace oil cylinder 5 is articulated with the fixed arm of telescoping mechanism 4
On；
Further, the bottom of the bracket 2 is rotatablely installed by rotating shaft 3.3 on pedestal 1, is consolidated on the pedestal 1
Surely there is a fixed gear ring 3.4, and rotating shaft 3.3 and fixed gear ring 3.4 are coaxially disposed, and are equipped with decelerating motor on the bracket 2
3.1, the output shaft of the decelerating motor 3.1 is set with driving gear 3.2, the driving gear 3.2 and fixed tooth vertically downwards
Circle 3.4 is meshed, to be rotated horizontally by 3.1 driving arm 2 of decelerating motor；
Further, operation horizontal platen 12 is installed on the binding clasp 9, operator is facilitated to carry out operation；
A kind of borer drill rod dismounting of the present invention construction procedure of manipulator:
Step 0, upper people；Diagonal brace oil cylinder 5 acts so that telescoping mechanism 4 acts obliquely, while balancing cylinder 8 acts, and makes
It obtains binding clasp 9 and keeps horizontal, operator climbs up binding clasp 9 at this time；
Step 1, crawl；Diagonal brace oil cylinder 5 acts so that telescoping mechanism 4 moves obliquely while operator opens transverse arm 11
Make to horizontality, then, swing mechanism 3 rotates so that after the open end alignment drilling rod 101 of binding clasp 9, and telescoping mechanism 4 acts
The open end of the binding clasp 9 of U-shaped structure is driven to wrap up drilling rod 101；
Step 2 is promoted；Operator closes transverse arm 11, and diagonal brace oil cylinder 5 acts so that telescoping mechanism 4 acts obliquely, from
And drilling rod 101 is driven to be separated from pedestal；
Step 3, transfer；Swing mechanism 3 rotates, so that drilling rod 101 be driven to be moved to installation position；
Step 4, positioning；Fine tuning is swung first with the oscillating oil cylinder 10 on binding clasp 9, so that drilling rod 101 is directed at power head
Then center recycles contacting with the rotation of drilling rod 101 for the multiple rolling members 13 installed on binding clasp 9 and transverse arm 11 offer,
Operator's rotary drill rod 101 is directed at bolt hole up and down；
Step 5 is detached from；After drilling rod 101 is linked by bolt, operator opens transverse arm 11, and subsequent telescoping mechanism 4 is shunk
Leave drilling rod 101；
In addition: it should be noted that above-mentioned specific embodiment is only a prioritization scheme of this patent, the skill of this field
Any change or improvement that art personnel are done according to above-mentioned design, within the protection domain of this patent..
Claims (5)
1. a kind of borer drill rod dismounting manipulator, it is characterised in that: the manipulator includes pedestal (1), the pedestal (1)
The swing mechanism (3) at top is equipped with bracket (2), and telescoping mechanism (4) passes through the pin shaft being laterally arranged and is articulated on bracket (2),
It is equipped with balance element (6) on the telescopic arm of the telescoping mechanism (4), the cylinder seat of diagonal brace oil cylinder (5) is articulated with bracket (2), diagonal brace
The telescopic arm of oil cylinder (5) is articulated on telescoping mechanism (4)；
Above-mentioned balance element (6) is hinged with connector (7) by a pin shaft being laterally arranged, and the connector (7) is vertical by one
The pin shaft of setting is hinged with binding clasp (9), and the cylinder seat of balancing cylinder (8) is articulated on balance element (6), the balancing cylinder
(8) telescopic arm is hinged with connector (7), and the cylinder seat of oscillating oil cylinder (10) is articulated with connector (7), the oscillating oil cylinder
(10) telescopic arm is hinged with binding clasp (9), and the binding clasp (9) is U-shaped structure, and on the U-shaped opening end of binding clasp (9)
It is hinged with transverse arm (11), is provided with multiple rolling members (13) on the binding clasp (9) and transverse arm (11).
2. a kind of borer drill rod dismounting manipulator as described in claim 1, it is characterised in that: the bottom of the bracket (2) is logical
Rotating shaft (3.3) rotational installation is crossed, on pedestal (1), to be fixed with a fixed gear ring (3.4) on the pedestal (1), and rotating shaft
(3.3) it is coaxially disposed with fixed gear ring (3.4), decelerating motor (3.1), the decelerating motor is installed on the bracket (2)
(3.1) output shaft is set with driving gear (3.2) vertically downwards, and the driving gear (3.2) is mutually nibbled with fixed gear ring (3.4)
It closes.
3. a kind of borer drill rod dismounting manipulator as described in claim 1, it is characterised in that: installed on the binding clasp (9)
There are operation horizontal platen (12).
4. a kind of borer drill rod dismounting manipulator as described in claim 1, it is characterised in that: diagonal brace oil cylinder (5) left and right
It is symmetrically arranged with two groups.
5. a kind of borer drill rod dismounting manipulator as described in claim 1, it is characterised in that: the telescoping mechanism (4) is interior
It is equipped with the box-beam structure of telescopic oil cylinder, and telescopic oil cylinder obtains cylinder seat and piston rod is hinged with fixed arm and telescopic arm respectively；
The telescopic arm of above-mentioned diagonal brace oil cylinder (5) is articulated on the fixed arm of telescoping mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811091586.1A CN109403891A (en) | 2018-09-19 | 2018-09-19 | Manipulator is used in a kind of dismounting of borer drill rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811091586.1A CN109403891A (en) | 2018-09-19 | 2018-09-19 | Manipulator is used in a kind of dismounting of borer drill rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109403891A true CN109403891A (en) | 2019-03-01 |
Family
ID=65465079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811091586.1A Withdrawn CN109403891A (en) | 2018-09-19 | 2018-09-19 | Manipulator is used in a kind of dismounting of borer drill rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109403891A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113756731A (en) * | 2021-08-30 | 2021-12-07 | 中交天和机械设备制造有限公司 | Tool and method for disassembling and assembling drill rod on shaft drilling machine |
-
2018
- 2018-09-19 CN CN201811091586.1A patent/CN109403891A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113756731A (en) * | 2021-08-30 | 2021-12-07 | 中交天和机械设备制造有限公司 | Tool and method for disassembling and assembling drill rod on shaft drilling machine |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190301 |