CN112359156B - Combined clamp for filling stemming and replacing drill rod and working method thereof - Google Patents
Combined clamp for filling stemming and replacing drill rod and working method thereof Download PDFInfo
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- CN112359156B CN112359156B CN202011188636.5A CN202011188636A CN112359156B CN 112359156 B CN112359156 B CN 112359156B CN 202011188636 A CN202011188636 A CN 202011188636A CN 112359156 B CN112359156 B CN 112359156B
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/12—Opening or sealing the tap holes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a combined clamp for filling stemming and replacing a drill rod, which comprises a stemming clamp and a drill rod clamp, wherein a first connecting piece is arranged on the stemming clamp, a second connecting piece matched with the first connecting piece is arranged on the drill rod clamp, the stemming clamp and the drill rod clamp are detachably connected through the first connecting piece and the second connecting piece, and the lowest surface of the stemming clamp is higher than the grabbing surface of the drill rod clamp. In addition, the invention also provides a working method of the combined clamp. According to the invention, the stemming clamp and the drill rod clamp are detachably connected, when the drill rod is not replaced, the drill rod clamp and the stemming clamp are separated, and when the drill rod is replaced, the drill rod clamp is combined onto the stemming clamp, so that the problems that two sets of devices, namely the stemming clamp and the drill rod clamp, occupy large space and are high in production and maintenance cost are effectively solved, and meanwhile, the frequency of replacing the clamp by the mechanical arm can be reduced, and the problem that a connecting hose of a driving device of each clamp is disordered and wound due to frequent replacement of the clamp can be effectively avoided.
Description
Technical Field
The invention belongs to the technical field of tapping equipment in front of a blast furnace, and particularly relates to a combined clamp for filling stemming and replacing a drill rod and a working method thereof.
Background
The cast house is in a high temperature, dusty and labor intensive work area. Each tap hole of the blast furnace cast house is provided with a mud gun and a tap hole machine. The tapping machine is used for opening the tapping through rotary drilling and vibrating of the iron rod, and discharging smelted molten iron in the hearth through the tapping. The mud gun is used for firmly plugging the tap hole by extruding stemming into the tap hole with the tap hole after tapping of the tap hole is completed, so that the blast furnace can perform normal smelting operation.
When the tapping machine is used for tapping, the used drill rod is replaced after tapping is performed once. At present, drill rod replacement of most steel production enterprises is realized by a manual operation mode, so that the labor intensity is high and the working environment is bad. Under the same condition, stemming for blocking a mud gun is piled on a cast house platform, workers need to pack the stemming into the mud gun one by one before the mud gun needs to block the cast house, 40-50 stemming blocks are filled each time, and the weight of each stemming block is 7-10 kg, so that the labor intensity is extremely high. Therefore, a device capable of automatically replacing drill rods and automatically filling stemming is needed to replace manual operation.
The tapping floor platform is required to stack iron rods, stemming, trench covers and the like, and is also required to be provided with an iron notch opener, a mud gun, a cover uncovering machine, an iron trench, a slag trench and the like, so that the whole platform is required to be arranged compactly for convenient operation and maintenance.
At present, a device for independently and automatically adding stemming and a device for independently and automatically replacing a drill rod are available on the market. However, these devices often suffer from the following drawbacks: (1) The space of the cast house platform is occupied too much, and each tap hole needs to be added with two sets of devices, so that the operation and maintenance of a tap hole opener, a mud gun and other devices are inconvenient; (2) The equipment has high primary cost and complex production and maintenance; (3) Because two sets of devices are needed to be added, the device is difficult to be qualified for the situation that the mud gun and the tapping machine are arranged on the same side; (4) In order to disperse piled stemming, the automatic stemming feeding device on the market is convenient to automatically grab, and needs a set of stemming dispersing and conveying devices, so that the occupied space is large and the cost is high.
Disclosure of Invention
The invention aims to provide a combined clamp for filling stemming and replacing drill rods, which at least can solve part of the technical problems existing in the prior art of filling stemming and replacing drill rods.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a pack stemming and change combined fixture for drill rod, includes stemming anchor clamps and drill rod anchor clamps, be equipped with connecting piece one on the stemming anchor clamps, be equipped with on the drill rod anchor clamps with connecting piece one complex connecting piece two, the stemming anchor clamps can dismantle with the drill rod anchor clamps through connecting piece one and connecting piece two and be connected, and the minimum face of stemming anchor clamps is higher than the gripping face of drill rod anchor clamps.
Further, the first connecting piece is a transition flange, the second connecting piece is a barrel with a hollow middle, the lower part of the transition flange of the stemming clamp is arranged in the barrel, and the upper part of the barrel is detachably connected with the transition flange.
Further, an external thread piece is arranged on the outer surface of the upper part of the barrel of the connecting piece II, an internal thread piece matched with the external thread piece of the barrel is arranged on the inner surface of the transition flange, the upper part of the barrel is sleeved in the transition flange, and the barrel and the transition flange are detachably connected through the external thread piece and the internal thread piece.
Furthermore, a locking bolt is arranged on the transition flange, and a locking hole matched with the locking bolt is formed in the upper surface of the cylinder body.
Further, the stemming clamp comprises a connecting flange for externally connecting the mechanical arm, a stemming clamping unit for clamping stemming, and a connecting barrel for connecting the stemming clamping unit and the connecting flange; the first connecting piece is positioned between the connecting flange and the stemming clamping unit and is fixedly connected to the connecting cylinder.
Further, the stemming clamping unit comprises a stemming clamping jaw, a middle cylinder body and a first cylinder body, wherein the head part of a piston rod of the first cylinder body is arranged in the middle cylinder body, the upper end of the middle cylinder body is fixedly connected with the first cylinder body, the head part of the piston rod of the first cylinder body is connected with a connecting lantern ring, the stemming clamping jaw is connected with the connecting lantern ring through a first connecting rod, and the stemming clamping jaw is positioned outside the bottom end of the middle cylinder body.
Further, the iron core clamp comprises a clamp beam and iron core clamping units connected to two ends of the lower surface of the clamp beam, and the second connecting piece is connected to the upper surface of the clamp beam.
Further, the drill rod clamping unit comprises a drill rod clamping claw, a clamping box body and a second oil cylinder, the head part of a piston rod of the second oil cylinder is arranged in the clamping box body, the upper end of the clamping box body is fixedly connected with the second oil cylinder, the head part of the piston rod of the second oil cylinder is connected with the drill rod clamping claw through a second connecting rod, the drill rod clamping claw is positioned outside the bottom end of the clamping box body, a guiding locating pin is connected outside the clamping box body, and the guiding locating pin is positioned on one side of the drill rod clamping claw.
Further, the clamp cross beam is provided with a positioning hole for limiting when the iron rod clamp is placed.
In addition, the invention also provides a working method of the combined clamp for filling stemming and replacing drill rods, which comprises the following steps:
1) Process for replacing drill rod
The stemming clamp of the combined clamp is connected to the mechanical arm through a flange, the combined clamp is moved by the mechanical arm, so that the iron rod clamp of the combined clamp moves to the lower part of the tapping machine to be placed, the iron rod clamp is clamped to be subjected to old iron rod replacing action, meanwhile, the tapping machine is matched with the old iron rod unloading action, and after the old iron rod is disconnected with the tapping machine, the mechanical arm moves the iron rod clamp and the clamped old iron rod to the old iron rod stacking position, so that the old iron rod disassembling process is completed;
the mechanical arm moves the combined clamp to the upper part of the new iron rod stacking rack, and enables the iron rod clamp to move downwards to clamp the selected new iron rod, the mechanical arm continuously brings the iron rod clamp and the clamped new iron rod to the lower part of the waiting position of the tapping machine for taking down the old iron rod, and then drives the iron rod clamp to move upwards to the loading position of the tapping machine, meanwhile, the tapping machine cooperates with the loading action, after the iron rod is connected with the tapping machine, the iron rod clamp loosens the new iron rod, and the mechanical arm drives the iron rod clamp to leave the loading position to finish the process of replacing the iron rod;
2) Stemming filling process
Connecting the stemming clamp of the combined clamp to a mechanical arm through a flange, moving the combined clamp to the position above a drill rod clamp placing frame through the mechanical arm, placing the drill rod clamp of the combined clamp on the drill rod clamp placing frame, disconnecting a connecting piece I of the stemming clamp from a connecting piece II of the drill rod clamp, and detaching the drill rod clamp;
the mechanical arm drives the stemming clamp for detaching the iron rod clamp to a selected stemming clamping point, the stemming clamp clamps the stemming, then the mechanical arm sends the stemming clamp and the stemming clamped by the stemming clamp to the stemming mouth of the stemming, the stemming clamp releases the clamped stemming, the stemming falls into the stemming mouth, and the mechanical arm withdraws the stemming clamp to finish the stemming filling process.
Compared with the prior art, the invention has the beneficial effects that:
according to the combined clamp for filling stemming and replacing the drill rod, the stemming clamp and the drill rod clamp are detachably connected, the drill rod clamp and the stemming clamp are separated in non-drill rod replacing operation, and the drill rod clamp is combined to the stemming clamp in drill rod replacing operation, so that the problems that the two sets of the stemming clamp and the drill rod clamp occupy large space and are high in production and maintenance cost are effectively solved, the frequency of clamp replacement by a mechanical arm is reduced, and the problem that connecting hoses of driving devices of the clamps are disordered and wound due to frequent clamp replacement is effectively avoided.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the construction of a combined clamp for stemming filling and drill rod replacement according to the present invention;
FIG. 2 is a schematic cross-sectional view of A-A of FIG. 1;
FIG. 3 is a schematic view of the construction of the drill jig of the present invention;
FIG. 4 is a schematic view of the construction of the drill rod clamping unit of the present invention;
FIG. 5 is a schematic view of the construction of the stemming clamp of the present invention;
FIG. 6 is a schematic cross-sectional view of a stemming clamp of the present invention;
fig. 7 is a schematic cross-sectional view of the stemming gripping unit of the present invention.
Reference numerals illustrate: 1. a stemming clamp; 2. a first connecting piece; 3. a second connecting piece; 4. a drill rod clamp; 5. iron rod; 10. a stemming clamping unit; 11. a connecting cylinder; 12. a connecting flange; 20. locking the bolt; 21. an internal screw member; 30. a locking hole; 31. an external screw member; 40. a clamp beam; 41. a drill rod clamping unit; 42. placing the positioning holes; 101. an oil cylinder I; 102. a middle cylinder; 103. a connecting collar; 104. a first connecting rod; 105. stemming clamping jaw; 411. a second oil cylinder; 412. clamping the box body; 413. a second connecting rod; 414. iron rod clamping claws; 415. guiding the positioning pin.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second" may include one or more such features, either explicitly or implicitly; in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
As shown in fig. 1 and 2, this embodiment provides a combined clamp for filling stemming and replacing a drill rod, which comprises a stemming clamp 1 and a drill rod clamp 4, wherein a first connecting piece 2 is arranged on the stemming clamp 1, a second connecting piece 3 matched with the first connecting piece 2 is arranged on the drill rod clamp 4, the stemming clamp 1 and the drill rod clamp 4 are detachably connected through the first connecting piece 2 and the second connecting piece 3, and meanwhile, the lowest surface of the stemming clamp 1 is ensured to be higher than the grabbing surface of the drill rod clamp 4, so that the stemming clamp 1 cannot obstruct the clamping operation of the drill rod clamp 4.
When the stemming is filled in a non-drill rod replacing operation, the stemming clamp 1 of the combined clamp is connected to a mechanical arm through a flange, the combined clamp is moved to the position above a drill rod clamp placing frame through the mechanical arm, the drill rod clamp 4 of the combined clamp is placed on the drill rod clamp placing frame, then the connection between the first connecting piece 2 of the stemming clamp 1 and the second connecting piece 3 of the drill rod clamp 4 is disconnected, and the drill rod clamp 4 is detached; and then the mechanical arm carries the stemming clamp 1 for detaching the iron rod clamp 4 to a selected stemming clamping point, the stemming clamp 1 clamps the stemming, the mechanical arm sends the stemming clamp 1 and the stemming clamped by the stemming clamp to a stemming mouth of a stemming gun, the stemming clamp 1 releases the clamped stemming to enable the stemming to fall into the stemming mouth, and the mechanical arm withdraws the stemming clamp 1 to finish the stemming filling operation.
When the drill rod is replaced, the stemming clamp 1 is connected to the mechanical arm through a flange, the drill rod clamp 4 is fixedly combined to the stemming clamp 1 through the first connecting piece 2 and the second connecting piece 3, the assembly of the combined clamp is completed, the combined clamp is moved through the mechanical arm, the drill rod clamp 4 of the combined clamp is moved to the position below a waiting machine position of the tapping machine, the drill rod clamp 4 is clamped for the old drill rod to be replaced, the tapping machine is matched with the old drill rod unloading operation, and after the old drill rod is disconnected from the tapping machine, the mechanical arm moves the drill rod clamp 4 and the clamped old drill rod to the old drill rod stacking position, and the old drill rod disassembling process is completed; then, the mechanical arm moves the combined clamp to the upper part of the new iron rod stacking rack, and enables the iron rod clamp 4 to move downwards to clamp the selected new iron rod, the mechanical arm continues to take the iron rod clamp 4 and the clamped new iron rod to the lower part of the waiting position of the tapping machine for taking down the old iron rod, and then drives the iron rod clamp 4 to move upwards to the loading position of the tapping machine, meanwhile, the tapping machine cooperates with the loading action, after the new iron rod is connected with the tapping machine, the iron rod clamp 4 loosens the new iron rod, and the mechanical arm drives the iron rod clamp 4 to leave the loading position to finish the operation of replacing the iron rod.
Refining the concrete structure of the stemming clamp 1, as shown in fig. 5, 6 and 7, the stemming clamp 1 comprises a connecting flange 12 for externally connecting a mechanical arm, a stemming clamping unit 10 for clamping stemming, and a connecting barrel 11 for connecting the stemming clamping unit 10 and the connecting flange 12; the first connecting piece 2 is positioned between the connecting flange 12 and the stemming clamping unit 10 and is fixedly connected to the connecting barrel 11. Specifically, as shown in fig. 7, the stemming clamping unit 10 includes a stemming clamping jaw 105, a middle barrel 102 and a first cylinder 101, wherein a piston rod head of the first cylinder 101 is disposed in the middle barrel 102, an upper end of the middle barrel 102 is fixedly connected with the first cylinder 101, a connecting collar 103 is connected to the piston rod head of the first cylinder 101, the stemming clamping jaw 105 is connected with the connecting collar 103 through a first connecting rod 104, and the stemming clamping jaw 105 is located outside a bottom end of the middle barrel 102; the number of stemming clamping jaws 105 is plural, the stemming clamping jaws 105 are distributed at equal intervals along the circumference of the middle barrel 102, in this embodiment, three stemming clamping jaws 105 are adopted, the bottom ends of the stemming clamping jaws 105 are thin and taper so as to be inserted into stemming, and the top ends of the stemming clamping jaws 105 are provided with swing hinge points and driving hinge points for hinging with the first connecting rod 104. When the stemming filling operation is completed, the stemming clamping jaw 105 of the stemming clamp 1 is inserted into the stemming at a proper clamping point through the action of the mechanical arm, then the first oil cylinder 101 drives the first connecting rod 104 to drive the stemming clamping jaw 105 to swing inwards, the stemming is clamped, the clamping of the stemming is completed through the action of the combination of the inserting clamps, then the mechanical arm conveys the stemming clamp 1 and the stemming clamped by the stemming clamp to the position above a mud adding port of a mud gun, the stemming clamping jaw 105 swings outwards through the action of the first oil cylinder 101, the clamped stemming is loosened, the stemming falls into the mud adding port, and the mechanical arm is retracted, so that the stemming filling process is completed once.
In an optimized implementation mode, the stemming clamp 1 further comprises a stemming detection positioning unit (not labeled in the figure), the stemming detection positioning unit comprises a three-dimensional laser scanner and an image processor, in the stemming grabbing process, the scattered and piled stemming is subjected to laser three-dimensional scanning through the three-dimensional laser scanner, the outline of the scattered stemming pile is determined through the image processor, the position of a preferentially clamped stemming block and the optimal clamping point are calculated and determined, the stemming clamp 1 adopts the mode of clamping the point by automatic detection calculation, and simultaneously combines the mode of clamping the stemming combined by inserting and grabbing, which is equivalent to redefining the grabbing surface of the stemming, so that the problem of uncertain stemming appearance is solved, a whole set of stemming dispersing and conveying devices are not needed, the reliability of automatic stemming is improved, equipment is greatly simplified, the cost is reduced, and the arrangement is concise.
The detailed structure of the drill rod clamp 4 is refined, as shown in fig. 3, the drill rod clamp 4 comprises a clamp beam 40 and drill rod clamping units 41 connected to two ends of the lower surface of the clamp beam 40, and the second connecting piece 3 is connected to the upper surface of the clamp beam 40. Specifically, as shown in fig. 4, the drill rod clamping unit 41 includes a drill rod clamping claw 414, a clamping box 412 and a second cylinder 411, a piston rod head of the second cylinder 411 is disposed in the clamping box 412, an upper end of the clamping box 412 is fixedly connected with the second cylinder 411, a piston rod head of the second cylinder 411 is connected with the drill rod clamping claw 414 through a second connecting rod 413, and the drill rod clamping claw 414 is located outside a bottom end of the clamping box 412, wherein the two drill rod clamping claws 414 are oppositely arranged. When the operation of replacing the drill rod is completed, the second oil cylinder 411 drives the second connecting rod 413 to act, and the second connecting rod 413 drives the drill rod clamping claw 414 to open or close so as to put down or clamp the drill rod 5.
Further, the clamping box 412 is externally connected with a guiding positioning pin 415, and the guiding positioning pin 415 is located at one side of the drill rod clamping claw 414, when the drill rod 5 is replaced, the guiding positioning pin 415 can be inserted into a corresponding positioning hole on the tapping machine, and accurate positioning and torque transmission can be achieved through the guiding positioning pin 415.
Further, the fixture cross beam 40 is provided with a positioning hole 42, correspondingly, a positioning pin is arranged on the drill rod fixture rest frame, and in the process of filling stemming, the drill rod fixture 1 is dismounted and placed on the drill rod fixture rest frame, and the positioning and rest of the drill rod fixture 4 are realized through the alignment of the positioning hole 42 on the fixture cross beam 40 and the positioning pin on the drill rod fixture rest frame.
For the detachable connection mode of stemming clamp 1 and drill rod clamp 4, as shown in fig. 3, 5 and 6, the first connecting piece 2 adopts a transition flange, the second connecting piece 3 is a hollow barrel in the middle, the barrel is arranged in the upward direction of clamp beam 40, meanwhile, a through hole is formed in the corresponding position on clamp beam 40, the lower part of the transition flange of stemming clamp 1 is arranged in the barrel, and the upper part of the barrel and the transition flange are detachably fixed. Specifically, an external thread piece 31 is arranged on the outer surface of the upper part of the cylinder body of the second connecting piece 3, an internal thread piece 21 matched with the external thread piece 31 of the cylinder body is arranged on the inner surface of the transition flange, the upper part of the cylinder body is sleeved in the transition flange, and the cylinder body is detachably connected with the transition flange through the external thread piece 31 and the internal thread piece 21; the external screw member 31 and the internal screw member 21 may be threads directly arranged on the surfaces of the barrel and the transition flange, or may be a block with threads on the surface, and the drill rod clamp 4 is assembled on the stemming clamp 1 by the threaded connection mode of the transition flange and the barrel, and the assembly or disassembly of the drill rod clamp 4 can be realized by only driving the stemming clamp 1 to rotate by a mechanical arm by the threaded connection mode of the transition flange and the barrel.
Optimally, the transition flange is provided with a locking bolt 20, the upper surface of the cylinder body is provided with a locking hole 30 matched with the locking bolt 20, and the firmness of the connection of the stemming clamp 1 and the iron rod clamp 4 is further ensured through the connection of the locking bolt 20 and the locking hole 30.
To sum up, this kind of packing stemming and change combination formula anchor clamps for drill rod that this embodiment provided can dismantle the connection with stemming anchor clamps and drill rod anchor clamps, when the operation of non-trade drill rod, drill rod anchor clamps and separation of stemming anchor clamps, during trade drill rod operation, drill rod anchor clamps make up to the stemming anchor clamps on, effectively solved stemming anchor clamps and two sets of device occupation space of drill rod anchor clamps big, the high problem of production maintenance cost, still reducible arm changes the number of times of anchor clamps simultaneously, thereby can effectively avoid frequently changing the anchor clamps and lead to the chaotic winding problem of connecting hose of the drive arrangement of each anchor clamps.
The foregoing examples are merely illustrative of the present invention and are not intended to limit the scope of the present invention, and all designs that are the same or similar to the present invention are within the scope of the present invention.
Claims (8)
1. The utility model provides a pack stemming and change combined fixture for drill rod which characterized in that: the stemming clamp comprises a stemming clamp and a drill rod clamp, wherein a first connecting piece is arranged on the stemming clamp, a second connecting piece matched with the first connecting piece is arranged on the drill rod clamp, the stemming clamp and the drill rod clamp are detachably connected through the first connecting piece and the second connecting piece, and the lowest surface of the stemming clamp is higher than the grabbing surface of the drill rod clamp; the first connecting piece is a transition flange, the second connecting piece is a barrel with a hollow middle, the lower part of the transition flange of the stemming clamp is arranged in the barrel, and the upper part of the barrel is detachably connected with the transition flange; the iron core clamp comprises a clamp beam and iron core clamping units connected to two ends of the lower surface of the clamp beam, and the second connecting piece is connected to the upper surface of the clamp beam.
2. A composite clamp for filling stemming and replacing drill iron as set forth in claim 1, wherein: the outer surface of the upper part of the barrel of the connecting piece II is provided with an external thread piece, the inner surface of the transition flange is provided with an internal thread piece matched with the external thread piece of the barrel, the upper part of the barrel is sleeved in the transition flange, and the barrel and the transition flange are detachably connected through the external thread piece and the internal thread piece.
3. A composite clamp for filling stemming and replacing drill iron as set forth in claim 1, wherein: the transition flange is provided with a locking bolt, and the upper surface of the cylinder body is provided with a locking hole matched with the locking bolt.
4. A composite clamp for filling stemming and replacing drill iron as set forth in claim 1, wherein: the stemming clamp comprises a connecting flange, a stemming clamping unit and a connecting barrel, wherein the connecting flange is used for being externally connected with the mechanical arm, the stemming clamping unit is used for clamping stemming, and the connecting barrel is used for connecting the stemming clamping unit and the connecting flange; the first connecting piece is positioned between the connecting flange and the stemming clamping unit and is fixedly connected to the connecting cylinder.
5. The composite fixture for filling stemming and replacing drill iron of claim 4, wherein: the stemming clamping unit comprises a stemming clamping jaw, a middle cylinder body and a first cylinder body, wherein the head part of a piston rod of the first cylinder body is arranged in the middle cylinder body, the upper end of the middle cylinder body is fixedly connected with the first cylinder body, the head part of the piston rod of the first cylinder body is connected with a connecting lantern ring, the stemming clamping jaw is connected with the connecting lantern ring through a first connecting rod, and the stemming clamping jaw is positioned outside the bottom end of the middle cylinder body.
6. A composite clamp for filling stemming and replacing drill iron as set forth in claim 1, wherein: the iron core clamping unit comprises an iron core clamping claw, a clamping box body and a second oil cylinder, wherein the head part of a piston rod of the second oil cylinder is arranged in the clamping box body, the upper end of the clamping box body is fixedly connected with the second oil cylinder, the head part of the piston rod of the second oil cylinder is connected with the iron core clamping claw through a second connecting rod, the iron core clamping claw is positioned outside the bottom end of the clamping box body, a guiding locating pin is connected outside the clamping box body, and the guiding locating pin is positioned on one side of the iron core clamping claw.
7. A composite clamp for filling stemming and replacing drill iron as set forth in claim 1, wherein: and the clamp cross beam is provided with a positioning hole for limiting the positioning of the drill clamp during placement.
8. The method of operating a combined clamp for loading stemming and replacing drill iron as claimed in any one of claims 1 to 7, comprising the steps of:
1) Process for replacing drill rod
The stemming clamp of the combined clamp according to any one of claims 1-7 is connected to a mechanical arm through a flange, the combined clamp is moved by the mechanical arm, the iron rod clamp of the combined clamp is moved to the lower part of a standby position of the tapping machine, the iron rod clamp is clamped to perform the action of clamping old iron rod which needs to be replaced, meanwhile, the tapping machine is matched with the action of unloading the old iron rod, and after the old iron rod is disconnected with the tapping machine, the mechanical arm moves the iron rod clamp and the clamped old iron rod to the old iron rod stacking position, so that the old iron rod disassembling process is completed;
the mechanical arm moves the combined clamp to the upper part of the new iron rod stacking rack, and enables the iron rod clamp to move downwards to clamp the selected new iron rod, the mechanical arm continuously brings the iron rod clamp and the clamped new iron rod to the lower part of the waiting position of the tapping machine for taking down the old iron rod, and then drives the iron rod clamp to move upwards to the loading position of the tapping machine, meanwhile, the tapping machine cooperates with the loading action, after the iron rod is connected with the tapping machine, the iron rod clamp loosens the new iron rod, and the mechanical arm drives the iron rod clamp to leave the loading position to finish the process of replacing the iron rod;
2) Stemming filling process
Connecting a stemming clamp of the combined clamp according to any one of claims 1-7 to a mechanical arm through a flange, moving the combined clamp to the position above a drill clamp placing frame through the mechanical arm, placing the drill clamp of the combined clamp on the drill clamp placing frame, disconnecting a first connecting piece of the stemming clamp from a second connecting piece of the drill clamp, and detaching the drill clamp;
the mechanical arm drives the stemming clamp for detaching the iron rod clamp to a selected stemming clamping point, the stemming clamp clamps the stemming, then the mechanical arm sends the stemming clamp and the stemming clamped by the stemming clamp to the stemming mouth of the stemming, the stemming clamp releases the clamped stemming, the stemming falls into the stemming mouth, and the mechanical arm withdraws the stemming clamp to finish the stemming filling process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011188636.5A CN112359156B (en) | 2020-10-30 | 2020-10-30 | Combined clamp for filling stemming and replacing drill rod and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011188636.5A CN112359156B (en) | 2020-10-30 | 2020-10-30 | Combined clamp for filling stemming and replacing drill rod and working method thereof |
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| CN112359156A CN112359156A (en) | 2021-02-12 |
| CN112359156B true CN112359156B (en) | 2023-08-25 |
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| CN115725807B (en) * | 2021-08-30 | 2024-06-04 | 宝山钢铁股份有限公司 | Control method of stemming adding device |
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