CN111878013A - A universal shaft type adjustable tilting manipulator structure - Google Patents

Abstract

The invention relates to a universal shaft type inclination-adjustable overturning manipulator structure, comprising a mechanical arm mechanism, wherein the mechanical arm mechanism comprises a transmission shaft, a clamping arm and a clamping hand, and the clamping arm is connected with both ends of the transmission shaft , the gripping hand is hinged with the gripping arm; it also includes an overturning drive mechanism and an inclination angle adjustment mechanism; both the overturning drive mechanism and the inclination angle adjustment mechanism are connected with the side of the drill frame of the drilling rig; the overturning drive mechanism One end of the shaft is connected; the inclination adjustment mechanism is connected with the other end of the transmission shaft through the universal shaft. The cardan shaft type adjustable tilting manipulator structure of the present invention can realize the mutual conversion of the attitude of the transmission shaft being parallel to the drill frame and parallel to the ground, which is convenient for the operations of loading and unloading the drill pipe to the manipulator, and is suitable for For long-stroke drilling rigs, when clamping long drill pipes, ensure that the center of gravity of the drill pipe falls on the inner side of the two mechanical arms, so as to ensure the balance of the force on the drill pipe.

Description

A universal shaft type adjustable tilting manipulator structure

technical field

The invention relates to the field of trenchless drilling rigs, in particular to a universal shaft type inclination-angle-adjustable overturning manipulator structure.

Background technique

Trenchless drilling usually uses a horizontal steering rig. The working principle of the horizontal pilot drilling rig is: during construction, according to the designed arc-shaped drilling trajectory, a drilling rig that can be drilled from the surface is used to first drill an approximately horizontal pilot hole, and then replace the large-diameter reaming hole after the pilot bit. The drill bit and the pipeline to be laid with a diameter smaller than the reaming bit are then reversely reamed, and the pipeline to be laid is pulled back into the borehole at the same time. When all the drill pipes are pulled back, the pipe laying work is completed at the same time.

In the specific drilling process, the drill frame of the pilot drilling rig is inclined at a small angle relative to the ground, and the power head on the drill frame drives the drill bit to rotate and feed, so that the drill bit performs the drilling operation. During the feeding process, as the drilling length increases, the drill pipes need to be connected one by one. The drill pipe connects the power head and the drill bit on the drill frame, and enters the ground with the drill bit to transmit power. When the drill pipe is working, the front part is connected to the drill bit and the rear part is connected to the power head on the drill frame.

The loading and unloading operation of the drill pipe is realized by the turning manipulator on the drilling rig. In the previous flipping manipulators, the drive shafts were all parallel to the drilling frame of the drilling rig. Since the drill frame is inclined at a small angle relative to the ground in the working state, the manipulator is also inclined, and the drill pipe is also in a state of low front and high back when loading and unloading. Therefore, it is necessary to manually lift the drill pipe and place it on the manipulator, which will undoubtedly increase the labor intensity of the workers.

The existing rotary manipulator can rotate from a position parallel to the drill frame to a position parallel to the ground when turning over to load and unload the drill pipe, which is convenient for the feeding of the drill pipe, and then holds the drill pipe and lifts it up and overturns, so that the drill pipe and the The drill frame is parallel, and the drill pipe installation is finally completed.

However, the above-mentioned existing rotary manipulators are all installed on the side of the drill frame in the range from the front end of the drilling rig's traveling crawler to the gripper; for the long drill pipe used for the long-stroke drilling rig, during the clamping and turning process, the This results in the bad phenomenon that the center of gravity of the drill pipe falls on the outside of the two manipulators, the force balance of the drill pipe is not good, and the drill pipe is at risk of deformation.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a cardan shaft type inclination-adjustable overturning manipulator structure, which can realize the mutual conversion of the attitude of the transmission shaft being parallel to the drill frame and parallel to the ground, and is convenient for loading and unloading the drill pipe to the manipulator. The operation of the drill pipe reduces the labor intensity, and the overturning drive mechanism and the inclination adjustment mechanism are located at both ends of the transmission shaft, which are not only suitable for short-stroke drilling rigs, but also suitable for long-stroke drilling rigs. On the inner side of the two mechanical arms, the balance of the force on the drill pipe is ensured.

In order to achieve the above object, the present invention provides the following technical solutions:

A universal shaft type adjustable tilting manipulator structure includes a mechanical arm mechanism, the mechanical arm mechanism includes a transmission shaft, a clamping arm and a clamping hand, the clamping arm is connected with both ends of the transmission shaft, and the The gripping hand is hinged with the gripping arm, the gripping arm is provided with a gripping oil cylinder, and the piston rod of the gripping oil cylinder is hinged with the gripping hand; it also includes an overturning drive mechanism and an inclination angle adjustment mechanism; the overturning drive mechanism and the inclination angle The adjustment mechanisms are all connected with the side of the drill frame of the drilling rig; the overturning drive mechanism is connected with one end of the transmission shaft through the universal shaft; the inclination adjustment mechanism is connected with the other end of the transmission shaft through the universal shaft.

Further, the turning drive mechanism includes a first fixing seat, a sliding seat and a turning shaft; the first fixing seat is detachably connected to the side surface of the drilling frame; a turning driving oil cylinder is arranged in the first fixing seat; The sliding seat is movably arranged in the first fixing seat, and the sliding seat is connected with the piston rod of the overturning driving oil cylinder.

Further, a rack is arranged on the sliding seat; the turning shaft is movably connected with the bearing seat at the top of the first fixing seat through a bearing, a gear is coaxially arranged on the turning shaft, and the gear is engaged with the rack. ; The turning shaft is connected with one end of the transmission shaft through the universal shaft.

Further, the inclination adjustment mechanism includes a second fixed seat, an inclination adjustment oil cylinder and a bearing box; the second fixed seat is detachably connected to the side of the drilling frame; a connecting frame is arranged on the second fixed seat; The inclination angle adjustment oil cylinder is located on the connecting frame, and the bearing box is connected with the piston rod of the inclination angle adjustment oil cylinder through the connection rod.

Further, the bearing box is T-shaped, and the connecting frame is provided with a guide post, which penetrates both sides of the bearing box; the end of the transmission shaft away from the overturning drive mechanism is movably connected to the bearing box through a bearing.

Further, the universal joint shaft is specifically a telescopic cross shaft universal joint.

The beneficial effects of the present invention are as follows: a universal shaft type inclination-angle-adjustable overturning manipulator structure, through the cooperation of the mechanical arm mechanism, the overturning drive mechanism, the inclination angle adjustment mechanism and the universal shaft, the transmission shaft can be parallel to the drilling frame and the The mutual conversion of the ground-parallel posture is convenient for the operations of loading and unloading the drill pipe to the manipulator, thereby reducing the labor intensity of manpower. The short-stroke drilling rig is also suitable for long-stroke drilling rigs. When clamping the long drill pipe, make sure that the center of gravity of the drill pipe falls on the inside of the two mechanical arms, so as to ensure the balance of the force on the drill pipe, so as to avoid the deformation of the long drill pipe due to the unbalanced force. Phenomenon.

Description of drawings

FIG. 1 is a schematic structural diagram of a gimbal shaft type tilt angle adjustable overturning manipulator structure of the present invention that clamps a drill pipe at a low position and the drill pipe is parallel to the ground.

FIG. 2 is a schematic axonometric view of the structure shown in FIG. 1 .

FIG. 3 is a schematic structural diagram of a gimbal shaft type tilt-adjustable overturning manipulator structure of the present invention that clamps the drill rod at a low position and the drill rod is parallel to the drill frame.

FIG. 4 is a schematic axonometric view of the structure shown in FIG. 3 .

FIG. 5 is a schematic structural diagram of a cardan shaft type tilt angle adjustable overturning manipulator structure of the present invention that clamps the drill rod at a high position and the drill rod is parallel to the drill frame.

FIG. 6 is a schematic axonometric view of the structure shown in FIG. 5 .

FIG. 7 is a schematic diagram of the overturning driving mechanism of a universal shaft type tilt-adjustable overturning manipulator structure according to the present invention.

FIG. 8 is a schematic diagram of an inclination adjustment mechanism of a cardan shaft type inclination adjustable overturning manipulator structure according to the present invention.

FIG. 9 is a partial structural schematic diagram of a mechanical arm mechanism of a universal shaft type inclination adjustable overturning manipulator structure of the present invention.

In the figure: 1. Drilling frame; 2. Drilling rig track; 3. Mechanical arm mechanism; 31. Transmission shaft; 32. Clamping arm; 33. Clamping hand; 34. Clamping cylinder; 4. Turning drive mechanism; 1. Fixed seat; 42. Turning driving cylinder; 43. Sliding seat; 44. Rack; 45. Gear; 46. Turning shaft; 47. Bearing seat; 5. Inclination adjustment mechanism; 51. Second fixing seat; 52. Connection 53. Inclination adjustment cylinder; 54. Connecting rod; 55. Bearing box; 56. Guide column; 6. Cardan shaft; 7. Drill pipe.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Referring to FIGS. 1 to 9 , a cardan shaft type tilt angle adjustable flip manipulator structure includes a mechanical arm mechanism 3, and the robotic arm mechanism 3 includes a transmission shaft 31, a clamping arm 32 and a clamping hand 33. The clamping The arm 32 is connected with the two ends of the transmission shaft 31, the gripping hand 33 is hinged with the gripping arm 32, the gripping arm 32 is provided with a clamping oil cylinder 34, and the piston rod of the clamping oil cylinder 34 is connected to the clamping hand 33 is hinged, and the clamping oil cylinder 34 is used to drive the gripper 33 to clamp or loosen the drill rod 7; it also includes a flipping drive mechanism 4 and an inclination angle adjustment mechanism 5. The adjustment mechanism 5 is used to realize the consultation and adjustment of the mechanical arm mechanism 3 relative to the horizontal plane; the overturning drive mechanism 4 and the inclination adjustment mechanism 5 are both connected with the side surface of the drilling frame 1 of the drilling rig 7; the overturning drive mechanism 4 is connected through the universal shaft 6 Connected with one end of the transmission shaft 31; the inclination adjustment mechanism 5 is connected with the other end of the transmission shaft 31 through the universal joint shaft 6, and the universal joint shaft 6 is used for the movement between the transmission shaft 31 and the overturning drive mechanism 4 and the inclination adjustment mechanism 5 connection and transmission.

The turning drive mechanism 42 includes a first fixing seat 41 , a sliding seat 43 and a turning shaft 46 ; the first fixing seat 41 is detachably connected to the side surface of the drilling frame 1 ; the first fixing seat 41 is provided with a turning drive The oil cylinder 42; the sliding seat 43 is movably arranged in the first fixing seat 41, the sliding seat 43 is connected with the piston rod of the overturning driving oil cylinder 42, and the overturning driving oil cylinder 42 is used to drive the sliding seat 43 to be fixed relative to the first The seat 41 slides.

The sliding seat 43 is provided with a rack 44; the turning shaft 46 is movably connected with the bearing seat 47 at the top of the first fixing seat 41 through a bearing, and a gear 45 is coaxially provided on the turning shaft 46, and the gear 45 Meshing with the rack 44, the rack 44 slides with the sliding seat 43, and is used to drive the gear 45 to rotate, thereby realizing the rotation of the flip shaft 46; the flip shaft 46 is connected to one end of the transmission shaft 31 through the universal shaft 6, The turning shaft 46 can drive the transmission shaft 31 to rotate through the universal joint shaft 6 .

The inclination adjustment mechanism 5 includes a second fixed seat 51, an inclination adjustment oil cylinder 53 and a bearing box 55; the second fixed seat 51 is detachably connected to the side surface of the drilling frame 1; the second fixed seat 51 is provided with a connection The inclination adjustment cylinder 53 is located on the connecting frame 52, the bearing box 55 is connected with the piston rod of the inclination adjustment cylinder 53 through the connecting rod 54, and the inclination adjustment cylinder 53 drives the bearing box 55 to move up and down through the connecting rod 54.

The bearing box 55 is T-shaped, and the connecting frame 52 is provided with a guide column 56, the guide column 56 runs through both sides of the bearing box 55, and the guide column 56 is used to provide guidance for the up and down movement of the bearing box 55; The end of the transmission shaft 31 away from the overturning drive mechanism 42 is movably connected to the bearing box 55 through a bearing, the bearing is located in the bearing box 55, and the bearing plays the role of connection and blocking of power transmission.

The universal joint shaft 6 is specifically a telescopic cross shaft universal joint, which can deflect the transmission shaft 31 relative to the turning shaft 46 and the bearing box 55 by a certain angle, and transmit rotational power in the presence of a deflection angle, and at the same time. A certain degree of axial expansion and contraction can be allowed; the telescopic universal joint of the cross shaft is an existing mature technology.

The working principle of the present invention is as follows: when the drill rod 7 needs to be supplied to the drill frame 1 of the drilling rig, the mechanical arm mechanism 3 is in a low position at this time, and the drill rod 7 is put into the gripper 33 at the end of the clamping arm 32, The clamping oil cylinder 34 drives the clamping hand 33 to clamp the drill rod 7, and the attitude of the drill rod 7 is parallel to the ground at this time, as shown in FIG. 1 and FIG. 2 .

Then, the piston rod of the inclination adjustment cylinder 53 of the inclination adjustment mechanism 5 extends upward, and the connecting rod 54 drives the bearing box 55 to slide upward along the guide column 56. The bearing box 55 moves one end of the transmission shaft 31 upward, and the transmission shaft 31 and the bearing box The universal joint shaft 6 between 55 is deflected, and the transmission shaft 31 is inclined relative to the horizontal plane until the drill pipe 7 is parallel to the straight line where the drill frame 1 is located, as shown in FIG. 3 and FIG. 4 .

Then, the piston rod of the inversion driving oil cylinder 42 of the inversion driving mechanism 4 protrudes outward, and the sliding seat 43 is driven to slide outward relative to the first fixed seat 41, so that the rack 44 drives the gear 45 and the inversion shaft 46 to rotate, and then passes the universal Drive the transmission shaft 31 to rotate to the shaft 6, so that the clamping arm 32 is turned up, so that the clamping arm 32 is in a high position, and the drill rod 7 is still parallel to the straight line where the drilling frame 1 is located, as shown in Figure 5 and Figure 6; At this time, the clamping oil cylinder 34 can drive the gripper 33 to release the drill rod 7, so that the drill rod 7 can be dropped at the designated position on the drill frame 1, and the automatic drill rod-up operation is completed.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The above embodiments are used to further illustrate the present invention, but do not limit the present invention to these specific embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention should be understood as being within the protection scope of the present invention.

Claims (6)

1. A universal shaft type adjustable tilting manipulator structure, comprising a mechanical arm mechanism (3), the mechanical arm mechanism (3) comprising a transmission shaft (31), a clamping arm (32) and a clamping hand (33) , the clamping arm (32) is connected with the two ends of the transmission shaft (31), the clamping arm (33) is hinged with the clamping arm (32), and the clamping arm (32) is provided with clamping An oil cylinder (34), the piston rod of the clamping oil cylinder (34) is hinged with the gripper (33); it is characterized in that: it also includes a turning drive mechanism (4) and an inclination adjustment mechanism (5); the turning drive mechanism ( 4) and the inclination adjustment mechanism (5) are connected with the side surface of the drilling frame (1) of the drilling rig (7); the overturning drive mechanism (4) is connected with one end of the transmission shaft (31) through the universal shaft (6); so The inclination adjustment mechanism (5) is connected with the other end of the transmission shaft (31) through the universal shaft (6). 2 . The tilt-adjustable turning manipulator structure according to claim 1 , wherein the turning driving mechanism ( 42 ) comprises a first fixing seat ( 41 ), a sliding seat ( 43 ) and a turning a shaft (46); the first fixing seat (41) is detachably connected to the side surface of the drilling frame (1); the first fixing seat (41) is provided with an overturning driving oil cylinder (42); the sliding seat (41) 43) The sliding seat (43) is movably arranged in the first fixing seat (41), and the sliding seat (43) is connected with the piston rod of the overturning driving oil cylinder (42). 3. A universal shaft type inclination adjustable turning manipulator structure according to claim 2, characterized in that: the sliding seat (43) is provided with a rack (44); the turning shaft (46) passes through The bearing is movably connected with the bearing seat (47) at the top of the first fixed seat (41), and a gear (45) is coaxially provided on the turning shaft (46), and the gear (45) is engaged with the rack (44) ; The turning shaft (46) is connected with one end of the transmission shaft (31) through the universal joint shaft (6). 4. A universal-shaft type tilt-adjustable overturning manipulator structure according to claim 3, characterized in that: the tilt-adjustment mechanism (5) comprises a second fixed seat (51), a tilt-adjustment oil cylinder (53) and A bearing box (55); the second fixing seat (51) is detachably connected to the side surface of the drilling frame (1); a connecting frame (52) is arranged on the second fixing seat (51); the inclination adjustment oil cylinder (53) is located on the connecting frame (52), and the bearing box (55) is connected with the piston rod of the inclination angle adjusting oil cylinder (53) through the connecting rod (54). 5. A universal shaft type tilt angle adjustable flip manipulator structure according to claim 4, characterized in that: the bearing box (55) is T-shaped, and the connecting frame (52) is provided with a guide post ( 56), the guide post (56) runs through both sides of the bearing box (55); one end of the transmission shaft (31) away from the overturning drive mechanism (42) is movably connected to the bearing box (55) through a bearing. 6. A cardan shaft type tilt angle adjustable flip manipulator structure according to claim 5, characterized in that: the cardan shaft (6) is specifically a telescopic cross shaft cardan coupling.

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