CN112267842B - Mining high accuracy permanent magnetism drilling rod grabbing device that surges - Google Patents
Mining high accuracy permanent magnetism drilling rod grabbing device that surges Download PDFInfo
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- CN112267842B CN112267842B CN202011146163.2A CN202011146163A CN112267842B CN 112267842 B CN112267842 B CN 112267842B CN 202011146163 A CN202011146163 A CN 202011146163A CN 112267842 B CN112267842 B CN 112267842B
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- 238000005065 mining Methods 0.000 title claims abstract description 18
- 230000005389 magnetism Effects 0.000 title claims description 17
- 238000005553 drilling Methods 0.000 title description 28
- 238000001514 detection method Methods 0.000 claims abstract description 87
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000000712 assembly Effects 0.000 claims abstract description 15
- 238000000429 assembly Methods 0.000 claims abstract description 15
- 238000003466 welding Methods 0.000 claims description 60
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 238000005299 abrasion Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 49
- 239000000306 component Substances 0.000 description 7
- 238000013461 design Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK 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
- E21B19/10—Slips; Spiders ; Catching devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK 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
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a mining high-precision hydraulic permanent magnet drill rod grabbing device which comprises a rack, a driving oil cylinder arranged above the rack, a rack plate, two groups of opposite clamping arm assemblies, a magnet assembly, a magnet switch assembly and a drill rod in-place detection assembly, wherein the cylinder rod of the driving oil cylinder vertically penetrates through the rack, the rack plate is arranged below the rack and is connected with the cylinder rod and can vertically move along with the cylinder rod, the magnet assembly is arranged on two sides of the rack plate, the magnet assembly is arranged between the two groups of clamping arm assemblies and is positioned below the rack plate, the upper parts of two ends of the magnet assembly are fixed on the rack, and the magnet switch assembly and the drill rod in-place detection assembly are respectively arranged at two ends of the magnet assembly; the device has the functions of drill rod in-place detection, drill rod magnetic picking and placing, mechanical clamping and positioning and the like; and the transmission clearance is eliminated in the process of magnetic taking and placing of the drill rod, so that higher positioning precision is ensured, meanwhile, the tail end flexibility of two degrees of freedom can be provided, and the guarantee is provided for the automatic taking and placing of the drill rod of the coal mine underground drill rig.
Description
Technical Field
The invention belongs to the field of automatic rod adding of underground drill rigs, and relates to a mining high-precision hydraulic permanent magnet drill rod grabbing device.
Background
In recent years, with the continuous development of the technology of the automatic drilling machine for coal mines, the requirements on the automation and the intelligence degree of the drilling machine are higher and higher. The research and development of an automatic rod adding device suitable for a drilling machine is the most basic and urgent requirement of the automatic drilling machine for realizing automatic loading and unloading of the drill rod.
The automatic rod adding device generally comprises a mechanical arm, a drill rod grabbing device, a rod bin and the like. The drill rod gripping device is a core component of the automatic rod adding device. Traditional mechanical type grabbing device uses two jack catchs of hydro-cylinder direct drive to open and shut and realize getting of drilling rod and put, requires to reserve the space that supplies the jack catch action between the drilling rod, under the certain circumstances in the storehouse volume of pole, has seriously restricted the quantity of drilling rod in the storehouse of pole. The urgent need develops a drilling rod grabbing device can adapt to different drilling rod mode of arranging, cancels the headspace between the drilling rod, and the pole storehouse of maximize is taken the pole volume.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a mining high-precision hydraulic permanent magnet drill rod grabbing device, which is suitable for different drill rod arrangement modes, eliminates the reserved space between drill rods and increases the rod carrying amount of a rod bin as much as possible.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mining high-precision hydraulic permanent magnet drill rod grabbing device comprises a rack, a driving oil cylinder arranged above the rack, a rack plate arranged below the rack and connected with the cylinder rod and capable of moving vertically along with the cylinder rod, two groups of opposite clamping arm assemblies arranged on two sides of the rack plate, a magnet assembly arranged between the two groups of clamping arm assemblies and located below the rack plate, wherein the upper parts of two ends of the magnet assembly are fixed on the rack, and a magnet switch assembly and a drill rod in-place detection assembly are respectively arranged at two ends of the magnet assembly;
the upper part of the clamping arm assembly is provided with a gear set capable of being meshed with the rack plate, the lower part of the clamping arm assembly is provided with a slip, and the upper end of the clamping arm assembly is rotatably arranged on the rack; the driving oil cylinder drives the rack plate to vertically move so as to drive the gear set to rotate and further drive the two groups of clamping arm assemblies and the clamping slips to open and clamp;
the magnet assembly comprises a permanent magnet jack, two earrings arranged at two ends of the upper surface of the permanent magnet jack, an earring shaft hinged with the earrings through a pin shaft, and a vertical spring, a mounting seat and a nut which are sequentially arranged on the earring shaft from bottom to top; the mounting seat can be fixed on the rack, and the spring can reduce impact load when the permanent magnet jack is contacted with the drill rod, so that the magnet assembly has tail end flexibility; the position of permanent magnetism jack is higher than slips position, and the lower surface of permanent magnetism jack is the circular arc recess shape that can laminate with the drilling rod.
The invention also comprises the following technical characteristics:
specifically, the rack comprises a driving oil cylinder mounting plate, two parallel opposite side plates which are arranged on the lower surface of the driving oil cylinder mounting plate and are perpendicular to the driving oil cylinder mounting plate, a magnet assembly mounting plate which is arranged on the outer side of each side plate and is parallel to the driving oil cylinder mounting plate, and two vertical guide strips which are arranged on the inner side of each side plate;
the driving oil cylinder mounting plate is provided with a hole a for mounting the driving oil cylinder, the magnet assembly mounting plate is provided with a hole b for mounting the magnet assembly, and the side plate is provided with a hole c for mounting the clamping arm assembly;
a sliding groove is formed between the two guide strips, and the two sides of the rack plate can move vertically after being arranged in the sliding grooves on the two side plates.
Specifically, the rack plate is positioned between the two side plates and comprises an upper transverse plate, a left side plate and a right side plate, wherein the left side plate and the right side plate are perpendicular to the upper transverse plate; the upper transverse plate is perpendicular to the two side plates, a hole d is formed in the upper transverse plate, the hole d is vertically coaxial with the hole a, and the cylinder rod can be inserted into the hole d and then locked through a locking nut so that the cylinder rod and the rack plate are fixed; the front and the back of the left side plate are respectively provided with a vertical left front rack and a vertical left back rack, the edge of the left side plate is provided with a vertical flange, and the vertical flange can be arranged in a sliding groove on the adjacent side plate; the front and the back of the right side plate are respectively provided with a right vertical front rack and a right vertical back rack, the edge of the right side plate is a vertical flange, and the flange can be arranged in a sliding groove on the adjacent side plate.
The clamping arm assembly comprises a first welding clamping arm, a second welding clamping arm, a full-tooth gear arranged on the upper portion of the first welding clamping arm, an adjusting gear arranged on the upper portion of the second welding clamping arm, a notch arranged below the adjusting gear, an adjusting screw arranged below the notch of the adjusting gear and arranged on the second welding clamping arm, a shaft penetrating through the full-tooth gear and the adjusting gear and perpendicular to two side plates, and slips arranged on the same side of the lower portions of the first welding clamping arm and the second welding clamping arm;
the first welding clamping arm and the second welding clamping arm are identical in structure and are parallel and opposite, and the first welding clamping arm and the second welding clamping arm are fixedly connected through a connecting plate; the full-tooth gear and the adjusting gear are located between the first welding clamping arm and the second welding clamping arm, the shaft sequentially penetrates through the first welding clamping arm, the full-tooth gear, the adjusting gear and the second welding clamping arm, and two ends of the shaft are respectively installed in holes c of the two side plates through self-lubricating bearings so that the clamping arm assembly can freely rotate around the shaft; the full-tooth gear is tightly matched with the first welding clamping arm through a pin and transmits torque;
the full-tooth gear of the clamping arm assembly positioned on the front side of the rack plate is meshed with the right front rack, and the adjusting gear of the clamping arm assembly positioned on the front side of the rack plate is meshed with the left front rack; the full-tooth gear of the clamping arm assembly positioned on the rear side of the rack plate is meshed with the left rear rack, and the adjusting gear of the clamping arm assembly positioned on the rear side of the rack plate is meshed with the right rear rack.
Specifically, the full-tooth gear is fixed on a first welding clamping arm through a bolt; the adjusting gear is fixed on the second welding clamping arm through a bolt, a bolt mounting hole of the adjusting gear on the second welding clamping arm is a kidney-shaped hole, and after the bolt of the adjusting gear is unscrewed, the adjusting gear can rotate around a shaft within an allowable range of the kidney-shaped hole by adjusting the extending length of the adjusting screw so as to eliminate a transmission gap between the adjusting gear and the rack plate.
Specifically, the permanent magnet jack of the magnet assembly comprises a shell and a magnetic core positioned in the shell, a hole e is formed in the end part of the shell so that the magnet switch assembly can be connected with the magnetic core, and a switch of magnetic force can be controlled by rotating the position of the magnetic core in the shell; the inner wall of the mounting seat is provided with a self-lubricating bearing so as to reduce the relative friction between the mounting seat and the earring shaft; the end part of the earring shaft above the nut is provided with a cotter pin to prevent the nut from falling off;
the mount pad can be fixed with magnet subassembly mounting panel bolt, and the earring axle passes hole b and the nut is located hole b top.
Specifically, the magnet switch assembly comprises a switch shell arranged at the end part of the shell, a switch oil cylinder arranged above the switch shell, a cam shaft arranged in the switch shell and a transmission shaft capable of penetrating through the cam shaft and the switch oil cylinder rod, wherein the switch oil cylinder rod of the switch oil cylinder extends into the switch shell;
the switch oil cylinder is arranged at the upper end of the switch shell through end part threads and is fixed through a locking nut; the switch shell is provided with an end cover, and the end cover is positioned between the switch shell and the shell;
one end of the camshaft is provided with a kidney-shaped hole, and the other end of the camshaft is provided with a block; the transmission shaft is arranged in the kidney-shaped hole and the circular hole at the end part of the cylinder rod of the switch oil cylinder, the two ends of the transmission shaft are respectively arranged in the groove on the inner wall of the switch shell and the groove on the end cover, and the width of the groove on the inner wall of the switch shell and the width of the groove on the end cover are in clearance fit with the diameter of the transmission shaft, so that when the switch oil cylinder acts, the component force of the reaction force from the cam shaft on the cylinder rod of the switch oil cylinder along the radial direction of the cylinder rod of the switch oil cylinder is counteracted, the abrasion of the sealing element of the switch oil cylinder is reduced, and the service life is prolonged; the piece is the cuboid structure, and the width of piece matches with the width of magnetic core tip recess, and the magnetic core tip recess is arranged in behind the piece ability clearing hole e in order to drive the magnetic core and rotate the magnetic force switch who realizes the permanent magnetism ground jack along with the camshaft.
The drilling rod detection assembly that targets in place is including installing casing tip's detection assembly casing, establishing the detection assembly end cover on detection assembly casing upper portion, establishing in detection assembly casing bottom surface and passing two detection pieces of detection assembly casing bottom surface respectively, being located the detection assembly casing and establishing the vertical detection spring on detecting the piece, establishing on the detection assembly end cover and passing this ampere of type proximity switch of detection assembly end cover and this ampere of type proximity switch be located the detection spring center that detects the piece top.
Specifically, the intrinsic safety type proximity switch is arranged in a threaded hole of an end cover of the detection assembly; the shortest distance from the detection spring to the detection head of the intrinsic safety type proximity switch is greater than the detection distance of the intrinsic safety type proximity switch so as to ensure that the detection spring does not influence the detection of the intrinsic safety type proximity switch in the stretching process; the distance between the two detection blocks is larger than the width of the spiral groove of the spiral drill rod to be grabbed.
Specifically, two guard plates positioned in front of the rack and behind the rack are arranged between two side plates of the rack.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention has the functions of drill rod in-place detection, drill rod magnetic force picking and placing, mechanical clamping and positioning and the like; and higher positioning accuracy is guaranteed in the process of magnetic picking and placing of the drill rod, and meanwhile, the tail end flexibility of two degrees of freedom can be provided, so that the guarantee is provided for automatic picking and placing of the drill rod of the coal mine underground drill rig.
According to the invention, the rack plate and the two groups of clamping arm assemblies are reversely meshed through the four groups of gear pairs, so that the gear pairs mutually offset the transmission clearance, and higher transmission precision is achieved.
The drill rod in-place detection assembly can identify the contact conditions of various drill rods such as an outer flat drill rod, a wide-wing spiral drill rod and the like and the bottom surface of the magnet, the grabbing action of the mechanical arm on the drill rod can be controlled within the flexible range of the clamping device by matching with the flexibility of the tail end of the magnet assembly, and the mechanical arm is prevented from bearing overlarge load so as to improve the control precision and prolong the service life of the mechanical arm.
The magnet switch assembly of the invention is hydraulically driven and is used for controlling the on and off of the magnetic force when the device grabs and releases the drill rod.
Drawings
FIG. 1 is an isometric view of the overall structure of the present invention;
FIG. 2 is an elevational view of the overall construction of the present invention;
FIG. 3 is a sectional view A-A of FIG. 2;
FIG. 4 is a schematic view of the drive cylinder;
FIG. 5 is a schematic view of a rack assembly;
FIG. 6 is a schematic view of the mounting of the rack plate and two sets of clamping arm assemblies;
FIG. 7 is a schematic view of a rack plate;
FIG. 8 is a schematic view of a clamp arm assembly;
FIG. 9 is a schematic view of a magnet assembly;
FIG. 10 is a schematic view of a magnet switch assembly, (a) being a front view, and (B) being a sectional view B-B of FIG. 10 (a);
FIG. 11 is a schematic view of a drill rod in position detection assembly.
The reference numbers mean:
1. the drill rod in-place detection device comprises a rack, a driving oil cylinder, a rack plate, a clamping arm assembly, a magnet switch assembly and a drill rod in-place detection assembly, wherein the driving oil cylinder is 2;
101. a driving oil cylinder mounting plate, 102, a side plate, 103, a magnet assembly mounting plate, 104, a guide strip, 105, a sliding chute and 106, a guard plate;
301. left front rack, 302 left rear rack, 303 right front rack, 304 right rear rack;
401. a first welding clamp arm, 402, a second welding clamp arm, 403, a full-tooth gear, 404, an adjustment gear, 405, an adjustment screw, 406, a shaft, 407, a slip;
501. the permanent magnet jack, 502, an earring, 503, a pin shaft, 504, an earring shaft, 505, a spring, 506, a mounting seat, 507, a nut, 508, a cotter pin;
601. a switch shell, 602, a switch cylinder, 603, a cam shaft, 604, a transmission shaft, 605, a kidney-shaped hole, 606, a block;
701. the detection assembly comprises a detection assembly shell, 702 detection assembly end covers, 703 detection blocks, 704 detection springs and 705 intrinsic safety type proximity switches.
The invention is described in detail below with reference to the drawings and the detailed description.
Detailed Description
In view of the defects in the prior art, the invention researches and designs a mining high-precision hydraulic permanent magnet drill rod gripping device by combining the experience and achievement of long-term working in related industries through careful research and design.
The present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention fall within the protection scope of the present invention. The present invention will be described in further detail with reference to examples.
Example 1:
as shown in fig. 1 to 11, the embodiment provides a mining high-precision hydraulic permanent magnet drill rod gripping device, which includes a rack 1, a driving oil cylinder 2 installed above the rack 1, a rack plate 3 arranged below the rack 1 and connected with the cylinder rod and capable of moving vertically along with the cylinder rod, two sets of opposite clamping arm assemblies 4 arranged at two sides of the rack plate 3, a magnet assembly 5 arranged between the two sets of clamping arm assemblies 4 and located below the rack plate 3, wherein upper portions of two ends of the magnet assembly 5 are fixed on the rack 1, and a magnet switch assembly 6 and a drill rod in-place detection assembly 7 respectively arranged at two ends of the magnet assembly 5; the upper part of the clamping arm component 4 is provided with a gear set which can be meshed with the rack plate 3, the lower part of the clamping arm component 4 is provided with a slip 407, and the upper end of the clamping arm component 4 is rotatably arranged on the rack 1; the driving oil cylinder 2 drives the rack plate 3 to vertically move so as to drive the gear set to rotate and further drive the two groups of clamping arm assemblies 4 and the slips 407 to open and clamp; the magnet assembly 5 comprises a permanent magnet jack 501, two ear rings 502 arranged at two ends of the upper surface of the permanent magnet jack 501, an ear ring shaft 504 hinged with the ear rings 502 through a pin shaft 503, and a vertical spring 505, a mounting seat 506 and a nut 507 which are sequentially arranged on the ear ring shaft 504 from bottom to top; the mounting seat 506 can be fixed on the frame 1, and the spring 505 can reduce the impact load when the permanent magnet jack 501 contacts with a drill rod, so that the magnet assembly 5 has tail end flexibility; the position of permanent magnetism jack 501 is higher than slips 407 place, and the lower surface of permanent magnetism jack 501 is the circular arc recess shape that can laminate with the drilling rod, and the circular arc diameter is the same with treating centre gripping drilling rod diameter to improve magnet magnetic force and guarantee the position accuracy that the drilling rod picked up.
The rack 1 comprises a driving oil cylinder mounting plate 101, two parallel opposite side plates 102 which are arranged on the lower surface of the driving oil cylinder mounting plate 101 and are perpendicular to the driving oil cylinder mounting plate 101, a magnet assembly mounting plate 103 which is arranged on the outer side of the side plates 102 and is parallel to the driving oil cylinder mounting plate 101, and two vertical guide strips 104 which are arranged on the inner side of the side plates 102; a hole a for installing the driving oil cylinder 2 is formed in the driving oil cylinder installation plate 101, a hole b for installing the magnet assembly 5 is formed in the magnet assembly installation plate 103, and a hole c for installing the clamping arm assembly 4 is formed in the side plate 102; a sliding groove 105 is formed between the two guide bars 104, and two sides of the rack plate 3 can be placed in the sliding grooves 105 on the two side plates 102 and then vertically move.
The rack plate 3 is positioned between the two side plates 102, and the rack plate 3 comprises an upper transverse plate, a left side plate and a right side plate which are vertical to the upper transverse plate; the upper transverse plate is perpendicular to the two side plates 102, a hole d is formed in the upper transverse plate, the hole d is vertically coaxial with the hole a, and the cylinder rod can be inserted into the hole d and then locked through a locking nut so that the cylinder rod and the rack plate 3 are fixed; the front and the back of the left side plate are respectively provided with a left vertical front rack 301 and a left vertical back rack 302, the edge of the left side plate is a vertical flange, and the vertical flange can be arranged in the sliding groove 105 on the adjacent side plate; the front and the back of the right side plate are respectively provided with a vertical right front rack 303 and a right back rack 304, the edge of the right side plate is a vertical flange, and the flange can be arranged in the sliding groove 105 on the adjacent side plate.
The clamping arm assembly 4 comprises a first welding clamping arm 401, a second welding clamping arm 402, a full-tooth gear 403 arranged on the upper portion of the first welding clamping arm 401, an adjusting gear 404 arranged on the upper portion of the second welding clamping arm 402 and a notch arranged below the adjusting gear 404, an adjusting screw 405 arranged below the notch of the adjusting gear 404 and arranged on the second welding clamping arm 402, a shaft 406 which penetrates through the full-tooth gear 403 and the adjusting gear 404 and is perpendicular to the two side plates 102, and slips 407 arranged on the same side of the lower portions of the first welding clamping arm 401 and the second welding clamping arm 402.
The first welding clamping arm 401 and the second welding clamping arm 402 are identical in structure and are parallel and opposite, and the first welding clamping arm 401 and the second welding clamping arm 402 are fixedly connected through a connecting plate; the full-tooth gear 403 and the adjusting gear 404 are located between the first welding clamping arm 401 and the second welding clamping arm 402, the shaft 406 sequentially penetrates through the first welding clamping arm 401, the full-tooth gear 403, the adjusting gear 404 and the second welding clamping arm 402, and two ends of the shaft 406 are respectively installed in holes c of the two side plates 102 through self-lubricating bearings so that the clamping arm assembly 4 can freely rotate around the shaft 406; full-toothed gear 403 mates with first weld gripper arm 401 via a pin and transmits torque.
The full-tooth gear 403 of the clamping arm assembly 4 positioned on the front side of the rack plate 3 is meshed with the right front rack 303, and the adjusting gear 404 of the clamping arm assembly 4 positioned on the front side of the rack plate 3 is meshed with the left front rack 301; the full-tooth gear 403 of the clamp arm assembly 4 located on the rear side of the rack plate 3 meshes with the left rear rack 302, and the adjusting gear 404 of the clamp arm assembly 4 located on the rear side of the rack plate 3 meshes with the right rear rack 304.
The full-tooth gear 403 is fixed on the first welding clamping arm 401 through a bolt; the adjusting gear 404 is fixed on the second welding clamping arm 402 through a bolt, a bolt mounting hole of the adjusting gear 404 on the second welding clamping arm 402 is a kidney-shaped hole, and after the bolt of the adjusting gear 404 is loosened, the adjusting gear 404 can rotate around the shaft 406 within the allowable range of the kidney-shaped hole by adjusting the extending length of the adjusting screw 405 so as to eliminate the transmission gap between the adjusting gear 404 and the rack plate 3.
The permanent magnet jack 501 of the magnet assembly 5 comprises a shell and a magnetic core positioned in the shell, wherein the end part of the shell is provided with a hole e so that the magnet switch assembly 6 can be connected with the magnetic core, and a switch capable of controlling the magnetic force by rotating the position of the magnetic core in the shell; the inner wall of the mounting seat 506 is provided with a self-lubricating bearing so as to reduce the relative friction between the mounting seat 506 and the earring shaft 504; a cotter 508 is arranged at the end part of the ear loop shaft 504 above the nut 507 to prevent the nut 507 from falling off; the mounting block 506 can be bolted to the magnet assembly mounting plate 103 with the trunnion 504 passing through hole b and the nut 507 above hole b. After the spring 505 is installed, the permanent magnet jack 501 is in a compressed state, has translation along the Z axis and rotation freedom around the X axis, and has certain tail end flexibility when contacting with a drill rod, so that impact load when contacting with the drill rod is reduced, and the system reliability of the rod adding device is improved.
The magnet switch assembly 6 is hydraulically driven and is used for controlling the switch of the magnetic force when the device grabs and releases the drill rod; the magnet switch assembly 6 comprises a switch shell 601 arranged at the end part of the shell, a switch oil cylinder 602 arranged above the switch shell 601, a switch oil cylinder rod of the switch oil cylinder 602 extending into the switch shell 601, a cam shaft 603 arranged in the switch shell 601 and a transmission shaft 604 capable of passing through the cam shaft 603 and the switch oil cylinder rod; the switch oil cylinder 602 is mounted at the upper end of the switch shell 601 through end threads and is fixed through a locking nut; an end cover is arranged on the switch shell 601 and is positioned between the switch shell 601 and the shell; one end of the camshaft 603 is provided with a kidney-shaped hole 605, and the other end is provided with a block 606; a transmission shaft 604 is arranged in the kidney-shaped hole 605 and a circular hole at the end part of the cylinder rod of the switch cylinder, two ends of the transmission shaft 604 are respectively arranged in a groove on the inner wall of the switch shell and a groove on the end cover, the widths of the groove on the inner wall of the switch shell 601 and the groove on the end cover and the diameter of the transmission shaft 604 form clearance fit, and the transmission shaft is used for offsetting the component force of the reaction force from the cam shaft 603 on the cylinder rod of the switch cylinder along the radial direction of the cylinder rod of the switch cylinder when the switch cylinder 602 acts, so that the abrasion of the sealing part of the switch cylinder 602 is reduced, and the service life is prolonged; block 606 is the cuboid structure, and the width of block 606 is equivalent with the width of magnetic core tip recess, and magnetic core tip recess is arranged in behind block 606 can the aperture e in order to drive the magnetic core and rotate the magnetic switch who realizes permanent magnetism jack 501 along with camshaft 603.
The drill rod in-place detection device 7 can identify the contact conditions of various drill rods such as an outer flat drill rod and a wide-wing spiral drill rod with the bottom surface of the magnet, the grabbing action of the mechanical arm on the drill rod can be controlled within the flexible range of the clamping device by matching with the flexibility of the tail end of the magnet assembly 5, and the mechanical arm is prevented from bearing overlarge load so as to improve the control precision and prolong the service life of the mechanical arm. The drill rod in-place detection assembly 7 comprises a detection assembly shell 701 arranged at the end of the shell, a detection assembly end cover 702 arranged at the upper part of the detection assembly shell 701, two detection blocks 703 arranged on the bottom surface of the detection assembly shell 701 and respectively penetrating through the bottom surface of the detection assembly shell 701, a vertical detection spring 704 positioned in the detection assembly shell 701 and arranged on the detection blocks 703, and an intrinsic safety type proximity switch 705 arranged on the detection assembly end cover 702 and penetrating through the detection assembly end cover 702, wherein the intrinsic safety type proximity switch 705 is positioned in the center of the detection spring 704 above the detection blocks 703.
The intrinsically safe proximity switch 705 is mounted in a threaded hole in the detection assembly end cap 702; the shortest distance from the detection spring 704 to the detection head of the intrinsic safety type proximity switch 705 is greater than the detection distance of the intrinsic safety type proximity switch 705, so that the detection spring 704 does not influence the detection of the intrinsic safety type proximity switch 705 in the expansion and contraction process; the distance between the two detection blocks 703 is greater than the width of the auger pipe helical groove to be grasped.
Two guard plates 106 positioned at the front of the frame 1 and at the rear of the frame 1 are arranged between the two side plates 102 of the frame 1.
The device comprises a process and a working principle for picking and placing the drill rod:
(1.1) the grabbing process and the working principle of the drill rod are as follows: the drill rods in the rod bin of the automatic rod adding device of the coal mine underground drill rig are placed in two modes, namely a split-type placing mode and a stacking type placing mode. The invention can automatically complete the magnetic vertical extraction and mechanical clamping and positioning of the drill rod under the control of a mining explosion-proof and intrinsic safety type controller (controller for short). The specific process is as follows:
an operator triggers a drill rod grabbing program through a remote controller, and the controller controls a mechanical arm of the rod adding device to drive the grabbing device to reach the position right above the drilling tool. The controller enables the electromagnet of the electromagnetic directional valve to be electrified according to a program, the hydraulic oil pushes the driving oil cylinder to extend out, the rack plate is pushed to move downwards, the movement is transmitted to the clamping arm assembly through the four groups of gear pairs, and the slips are driven to open. Add the slow descending height of pole device arm area grabbing device, make magnet assembly lower extreme circular arc recess slowly be close to and wait to snatch the drilling rod, after the drilling rod detection subassembly that targets in place detected the drilling rod and targets in place, this ampere of type proximity switch among the drilling rod detection subassembly that targets in place got electric, and give the controller with the signal of telecommunication transmission, controller control grabbing device stops descending, and stretch out through the switch cylinder among the solenoid directional valve control magnet switch subassembly, promote the camshaft rotation, the piece drives the magnetic core rotation of permanent magnetism ground jack under the drive of camshaft, the drilling rod is inhaled to magnetism on the permanent magnetism ground jack. The gripping device sucks the drill rod and lifts the drill rod, when the lifting height can meet the working requirement of the clamping arm, the driving oil cylinder retracts to drive the rack plate to move upwards, the movement is transmitted to the clamping arm assembly through the four groups of gear pairs, and the slips are driven to clamp the drill rod. And finishing the whole set of drill rod grabbing process. Because the width of the permanent magnet jack is smaller than the diameter of the drill rods, the drill rods can be closely arranged in a stacking manner without being mutually separated or gaps.
(1.2) the process and the working principle of putting the drill rod back to the rod bin are as follows: an operator triggers a drill rod placing program through a remote controller, and the controller controls the mechanical arm of the rod adding device to drive the gripping device and the drill rod in the gripping device to reach a certain distance right above a position where the drill rod needs to be placed, wherein the distance is suitable for preventing the gripping arm assembly from colliding with other devices when the gripping arm assembly is opened. The controller enables the electromagnet of the electromagnetic directional valve to be electrified according to a program, the hydraulic oil pushes the driving oil cylinder to extend out, the rack plate is pushed to move downwards, the movement is transmitted to the clamping arm assembly through the four groups of gear pairs, and the slips are driven to open. Then, when the mechanical arm drives the grabbing device and the drill rod to slowly descend and reach a placing position, the switch oil cylinder in the magnet switch assembly retracts, the cam shaft is pulled to rotate, the block drives the magnetic core of the permanent magnet jack to rotate under the driving of the cam shaft, the permanent magnet jack is demagnetized, and the drill rod is placed in place. The mechanical arm drives the gripping device to lift by a certain height, whether an intrinsic safety type proximity switch in the drill rod in-place detection assembly is powered on or not is detected, if the intrinsic safety type proximity switch is powered on, it is indicated that no drill rod exists in the gripping device, and the drill rod is placed back to finish the execution of the drill rod program.
The principle of mutual transmission clearance is counteracted by four groups of gear pairs:
the drill rod gripping device is the core of the automatic rod adding device, and the precision of the gripping device directly influences the reliability of the automatic rod adding of the drilling machine. And the precision of the gripping device depends on the size of the transmission clearance of each moving part. When the traditional gear pair is used for transmission, a transmission gap exists between a driving gear and a driven gear, so that high transmission precision is difficult to achieve. The device enables the gear pairs to mutually offset transmission gaps by a method of reversely meshing the four gear pairs, and achieves higher transmission precision.
As shown in fig. 6, the main transmission components of the mechanism include four sets of gears and four racks. The full-tooth gears of the two groups of clamping arm assemblies are fixed on the cross side of the welding clamping arm through bolts and pins. The adjusting gears of the two groups of clamping arm assemblies are fixed on the other two sides of the welding clamping arm through bolts. The bolt mounting hole of the adjusting gear is a kidney-shaped hole, and after the adjusting gear fixing bolt is unscrewed, the adjusting gear can rotate around the shaft within the allowable range of the kidney-shaped hole by adjusting the extending length of the adjusting bolt. The adjustment method is as follows.
Firstly, all parts of the grabbing device are installed, an adjusting gear fixing bolt of a clamping arm assembly on the front side of a rack plate is unscrewed, an adjusting bolt corresponding to the adjusting gear is clockwise screwed out, the adjusting bolt pushes the adjusting gear to rotate around a shaft, a lower tooth surface of the adjusting gear is in contact with an upper tooth surface of a corresponding rack and pushes the rack plate to move downwards, after the rack plate is tightly contacted with a full-tooth gear corresponding to a clamping arm assembly on the front side of the rack plate, the adjusting bolt is stopped to be adjusted, the adjusting gear fixing bolt is screwed, at the moment, the rack plate is tightly contacted with the upper tooth surface of the full-tooth gear of the clamping arm assembly on the front side of the rack plate and the lower tooth surface of the corresponding rack, and a side transmission gap is eliminated. In the same way, the adjusting gear and the full-tooth gear of the clamping arm assembly at the rear side of the adjusting rack plate are adjusted to enable the upper tooth surface of the full-tooth gear of the clamping arm assembly at the rear side of the adjusting rack plate to be in close contact with the lower tooth surface of the corresponding rack, and the side transmission clearance is eliminated.
(III) the working principle of the drill rod in-place detection assembly is as follows:
when the drill rod detection assembly is used for the first time, the drill rod is placed at the bottom of the magnet assembly and is attracted, the two proximity switches are rotated at the moment, the proximity switches are adjusted to the position where the detection block can be just detected, the locking nut is screwed, and the initial debugging of the drill rod in-place detection assembly is completed. The debugging finishes, in the in-service use process, when grabbing device slowly is close to when waiting to snatch the drilling rod, the drilling rod at first with detect the piece contact and promote to detect the piece and detect spring upward movement, because two detect between the piece apart from should be greater than the width of auger stem spiral groove, so when detecting auger stem, two detect the piece and only have one at most and fall into auger stem's helicla flute completely. Therefore, when any one of the two intrinsically safe type proximity switches detects the detection block, the drill rod is in place. When neither intrinsic safety type proximity switch detects the detection block, it indicates that the drilling rod is not in place yet, or no drilling rod exists in the grabbing device.
(IV) the working principle and the adjusting method of the magnet switch assembly are as follows:
the working principle is as follows: high-pressure oil enters the interior of the switch oil cylinder through an oil pipe joint at the upper end of the switch oil cylinder, the cylinder rod is pushed to extend out, the cylinder rod drives the transmission shaft to drive the cam shaft to rotate clockwise, the cam shaft drives the magnetic core to rotate to a horizontal state through a block arranged at the end part of the cam shaft, and the magnetic force of the permanent magnet jack reaches the maximum. Similarly, high-pressure oil enters the interior of the oil pipe connector at the lower end of the switch oil cylinder to push the cylinder rod to retract, the cylinder rod drives the transmission shaft to drive the cam shaft to rotate anticlockwise, the cam shaft drives the magnetic core to rotate to a vertical state through a block mounted at the end part of the cam shaft, and the magnetic force of the permanent magnet jack is closed.
The initial setting method comprises the following steps: according to the structural feature of permanent magnetism jack, when recess was in vertical state in the magnetic core, the permanent magnetism jack did not have magnetism, and permanent magnetism jack magnetism is the biggest when recess was in the horizontality in the magnetic core. Therefore, in order to ensure the magnetic force pick-and-place effect, when the oil cylinder is fully extended and fully retracted, the blocks must be in strict horizontal and vertical states respectively. This has offered very high requirement to the machining precision of each spare part of magnet switch subassembly, and processing cost and degree of difficulty can significantly improve.
In order to reduce the processing difficulty, the invention solves the problem of adjustable angle of the tail end of the cam through the innovative design of the structure. The adjusting method comprises the following steps: firstly, after all the components of the magnet switch assembly are installed, the cylinder rod of the switch oil cylinder is completely retracted, the cylinder barrel of the switch oil cylinder is rotated clockwise, the position of the block is observed, and when the block is strictly vertical, the screwing-in is stopped and the locking nut is locked. And then, completely extending the cylinder rod of the switch oil cylinder, screwing a switch adjusting screw at the position corresponding to the cylinder rod at the bottom of the shell clockwise, observing the position of the block, and stopping screwing when the block is strictly horizontal, so that the initial setting of the magnet switch assembly is finished.
Claims (9)
1. A mining high-precision hydraulic permanent magnet drill rod grabbing device is characterized by comprising a rack (1), a driving oil cylinder (2) arranged above the rack (1), a rack plate (3) arranged below the rack (1), connected with the cylinder rod and capable of moving vertically along with the cylinder rod, two sets of opposite clamping arm assemblies (4) arranged on two sides of the rack plate (3), a magnet assembly (5) arranged between the two sets of clamping arm assemblies (4) and positioned below the rack plate (3), and upper parts of two ends of the magnet assembly (5) are fixed on the rack (1), and a magnet switch assembly (6) and a drill rod in-place detection assembly (7) respectively arranged at two ends of the magnet assembly (5);
the upper part of the clamping arm component (4) is provided with a gear set which can be meshed with the rack plate (3), the lower part of the clamping arm component (4) is provided with a slip (407), and the upper end of the clamping arm component (4) is rotatably arranged on the rack (1); the rack plate (3) is driven by the driving oil cylinder (2) to vertically move so as to drive the gear set to rotate and further drive the two groups of clamping arm assemblies (4) and the slips (407) to open and clamp;
the magnet assembly (5) comprises a permanent magnet jack (501), two ear rings (502) arranged at two ends of the upper surface of the permanent magnet jack (501), an ear ring shaft (504) hinged with the ear rings (502) through a pin shaft (503), and a vertical spring (505), a mounting seat (506) and a nut (507) which are sequentially arranged on the ear ring shaft (504) from bottom to top; the mounting seat (506) can be fixed on the rack (1), and the spring (505) can reduce the impact load when the permanent magnet jack (501) is in contact with a drill rod, so that the magnet assembly (5) has tail end flexibility; the position of the permanent magnet jack (501) is higher than that of the slip (407), and the lower surface of the permanent magnet jack (501) is in the shape of an arc groove capable of being attached to a drill rod;
the magnet switch assembly (6) comprises a switch shell (601) arranged at the end part of the shell, a switch oil cylinder (602) arranged above the switch shell (601), a cam shaft (603) arranged in the switch shell (601) and a transmission shaft (604) capable of penetrating through the cam shaft (603) and the switch oil cylinder rod, wherein the switch oil cylinder rod of the switch oil cylinder (602) extends into the switch shell (601);
the switch oil cylinder (602) is mounted at the upper end of the switch shell (601) through end threads and is fixed through a locking nut; an end cover is arranged on the switch shell (601), and the end cover is positioned between the switch shell (601) and the shell;
one end of the camshaft (603) is provided with a kidney-shaped hole (605), and the other end is provided with a block (606); the transmission shaft (604) is arranged in the kidney-shaped hole (605) and the circular hole at the end part of the cylinder rod of the switch cylinder, two ends of the transmission shaft (604) are respectively arranged in the groove on the inner wall of the switch shell and the groove on the end cover, the width of the groove on the inner wall of the switch shell (601) and the groove on the end cover and the diameter of the transmission shaft (604) form clearance fit, and the transmission shaft is used for offsetting the component force of the reaction force from the cam shaft (603) along the radial direction of the cylinder rod of the switch cylinder when the switch cylinder (602) acts, so that the abrasion of the sealing element of the switch cylinder (602) is reduced, and the service life is prolonged; the piece (606) is the cuboid structure, and the width of piece (606) is equivalent with the width of magnetic core tip recess, and magnetic core tip recess is arranged in behind piece (606) can the aperture e in order to drive the magnetic core and rotate along with camshaft (603) and realize the magnetic force switch of permanent magnetism jack (501).
2. The mining high-precision hydraulic permanent magnet drill rod grabbing device according to claim 1, wherein the rack (1) comprises a driving cylinder mounting plate (101), two parallel opposite side plates (102) which are arranged on the lower surface of the driving cylinder mounting plate (101) and are perpendicular to the driving cylinder mounting plate (101), a magnet assembly mounting plate (103) which is arranged on the outer side of the side plates (102) and is parallel to the driving cylinder mounting plate (101), and two vertical guide strips (104) which are arranged on the inner side of the side plates (102);
a hole a for installing the driving oil cylinder (2) is formed in the driving oil cylinder installing plate (101), a hole b for installing the magnet assembly (5) is formed in the magnet assembly installing plate (103), and a hole c for installing the clamping arm assembly (4) is formed in the side plate (102);
a sliding groove (105) is formed between the two guide strips (104), and the two sides of the rack plate (3) can be vertically moved in the sliding groove (105) on the two side plates (102).
3. The mining high-precision hydraulic permanent magnet drill rod grabbing device according to claim 2, wherein the rack plate (3) is located between two side plates (102), and the rack plate (3) comprises an upper transverse plate, a left side plate and a right side plate which are perpendicular to the upper transverse plate; the upper transverse plate is perpendicular to the two side plates (102), a hole d is formed in the upper transverse plate, the hole d is vertically coaxial with the hole a, and the cylinder rod can be inserted into the hole d and then locked by a locking nut so as to be fixed with the rack plate (3); the front and the back of the left side plate are respectively provided with a left vertical front rack (301) and a left vertical back rack (302), the edge of the left side plate is a vertical flange, and the vertical flange can be arranged in a sliding groove (105) on the adjacent side plate; the front and the back of the right side plate are respectively provided with a vertical right front rack (303) and a vertical right back rack (304), the edge of the right side plate is a vertical flange, and the vertical flange can be arranged in a sliding groove (105) on the adjacent side plate.
4. The mining high-precision hydraulic permanent magnet drill rod grabbing device according to claim 3, wherein the clamping arm assembly (4) comprises a first welding clamping arm (401), a second welding clamping arm (402), a full-tooth gear (403) mounted on the upper portion of the first welding clamping arm (401), an adjusting gear (404) mounted on the upper portion of the second welding clamping arm (402) and having a notch below the adjusting gear (404), an adjusting screw (405) arranged below the notch of the adjusting gear (404) and mounted on the second welding clamping arm (402), a shaft (406) penetrating through the full-tooth gear (403) and the adjusting gear (404) and perpendicular to the two side plates (102), and slips (407) mounted on the same side of the lower portions of the first welding clamping arm (401) and the second welding clamping arm (402);
the first welding clamping arm (401) and the second welding clamping arm (402) are identical in structure and are parallel and opposite, and the first welding clamping arm (401) and the second welding clamping arm (402) are fixedly connected through a connecting plate; the full-tooth gear (403) and the adjusting gear (404) are located between the first welding clamping arm (401) and the second welding clamping arm (402), the shaft (406) sequentially penetrates through the first welding clamping arm (401), the full-tooth gear (403), the adjusting gear (404) and the second welding clamping arm (402), and two ends of the shaft (406) are respectively installed in holes c of the two side plates (102) through self-lubricating bearings so that the clamping arm assembly (4) can freely rotate around the shaft (406); the full-tooth gear (403) is tightly matched with the first welding clamping arm (401) through a pin and a bolt and transmits torque;
a full-tooth gear (403) of the clamping arm assembly (4) positioned on the front side of the rack plate (3) is meshed with the right front rack (303), and an adjusting gear (404) of the clamping arm assembly (4) positioned on the front side of the rack plate (3) is meshed with the left front rack (301); the full-tooth gear (403) of the clamping arm assembly (4) positioned on the rear side of the rack plate (3) is meshed with the left rear rack (302), and the adjusting gear (404) of the clamping arm assembly (4) positioned on the rear side of the rack plate (3) is meshed with the right rear rack (304).
5. The mining high-precision hydraulic permanent magnet drill rod grabbing device according to claim 4, wherein the full-tooth gear (403) is fixed on the first welding clamping arm (401) through a bolt; the adjusting gear (404) is fixed on the second welding clamping arm (402) through a bolt, a bolt mounting hole of the adjusting gear (404) on the second welding clamping arm (402) is a kidney-shaped hole, and after the bolt of the adjusting gear (404) is unscrewed, the adjusting gear (404) can rotate around the shaft (406) within the allowed range of the kidney-shaped hole by adjusting the extending length of the adjusting screw (405) so as to eliminate a transmission gap between the adjusting gear (404) and the rack plate (3).
6. The mining high-precision hydraulic permanent magnet drill rod grabbing device as claimed in claim 2, wherein the permanent magnet jack (501) of the magnet assembly (5) comprises a shell and a magnetic core positioned in the shell, the end of the shell is provided with a hole e so that the magnet switch assembly (6) can be connected with the magnetic core, and a switch for controlling the magnetic force can be controlled by rotating the position of the magnetic core in the shell; the inner wall of the mounting seat (506) is provided with a self-lubricating bearing so as to reduce the relative friction between the mounting seat (506) and the earring shaft (504); a cotter pin (508) is arranged at the end part of the earring shaft (504) above the nut (507) to prevent the nut (507) from falling off;
the mounting base (506) can be bolted to the magnet assembly mounting plate (103), the trunnion ring shaft (504) passes through the hole b and the nut (507) is positioned above the hole b.
7. The mining high-precision hydraulic permanent magnet drill rod grabbing device according to claim 6, wherein the drill rod in-place detection assembly (7) comprises a detection assembly shell (701) mounted at the end of the shell, a detection assembly end cover (702) arranged at the upper part of the detection assembly shell (701), two detection blocks (703) arranged at the bottom surface of the detection assembly shell (701) and respectively penetrating through the bottom surface of the detection assembly shell (701), a vertical detection spring (704) arranged in the detection assembly shell (701) and arranged on the detection block (703), an intrinsic safety type proximity switch (705) arranged on the detection assembly end cover (702) and penetrating through the detection assembly end cover (702), and the intrinsic safety type proximity switch (705) is positioned at the center of the detection spring (704) above the detection block (703).
8. The mining high-precision hydraulic permanent magnet drill pipe gripping device as recited in claim 7, characterized in that the intrinsically safe proximity switch (705) is installed in a threaded hole of a detection assembly end cover (702); the shortest distance from the detection spring (704) to a detection head of the intrinsic safety type proximity switch (705) is greater than the detection distance of the intrinsic safety type proximity switch (705) so as to ensure that the detection spring (704) does not influence the detection of the intrinsic safety type proximity switch (705) in the expansion and contraction process; the distance between the two detection blocks (703) is larger than the width of the spiral groove of the auger pipe to be grabbed.
9. The mining high-precision hydraulic permanent magnet drill rod grabbing device according to claim 1, characterized in that two guard plates (106) are arranged between the two side plates (102) of the frame (1) and in front of the frame (1) and behind the frame (1).
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| CN117303008B (en) * | 2023-11-29 | 2024-01-26 | 石家庄永峰墙体材料有限公司 | Autoclaved aerated concrete block finished product stacking manipulator and stacking method thereof |
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| CN203372976U (en) * | 2013-08-05 | 2014-01-01 | 杨国锋 | Novel permanent magnet lifting device |
| CA2999459A1 (en) * | 2015-10-01 | 2017-04-06 | National Oilwell Varco, L.P. | Radial magnetic cycloid gear assemblies, and related systems and methods |
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