CN113107400A - Mining rig manipulator that trades - Google Patents
Mining rig manipulator that trades Download PDFInfo
- Publication number
- CN113107400A CN113107400A CN202110545290.8A CN202110545290A CN113107400A CN 113107400 A CN113107400 A CN 113107400A CN 202110545290 A CN202110545290 A CN 202110545290A CN 113107400 A CN113107400 A CN 113107400A
- Authority
- CN
- China
- Prior art keywords
- translation
- lifting part
- lifting
- oil cylinder
- outer sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
Abstract
The invention discloses a mining drilling-replacing manipulator, and belongs to the technical field of mining mechanical equipment. The device comprises a base, a slewing bearing, a lifting part, a translation part and a paw assembly; the slewing bearing is arranged between the base and the lifting part; the lifting part is vertically arranged and used for controlling the vertical lifting of the manipulator; the translation part is horizontally arranged and used for controlling the horizontal movement of the manipulator, and one end of the translation part is fixedly connected with the top end of the lifting part through a flange; the gripper assembly is vertical to be set up, including gripper opening and shutting hydro-cylinder, mount, four-bar mechanism, left side embrace claw and right side and embrace the claw, the mount is located on the gripper opening and shutting hydro-cylinder, the top and the translation portion of gripper opening and shutting hydro-cylinder are connected through swing hydro-cylinder transmission, and bottom and four-bar mechanism's top fixed connection, the bottom of four-bar mechanism is controlled left side respectively and is embraced the claw and right side and embrace the claw, the top of left side armful claw and right side armful claw all is articulated with the mount. The invention can effectively solve the problem that the operation of workers is difficult when the drill rods are spliced and disassembled.
Description
Technical Field
The invention belongs to the technical field of mining mechanical equipment, and particularly relates to a mining drilling-replacing manipulator.
Background
With the increase of coal mining depth and intensity, rock burst is more and more frequent, and the loss that causes also is bigger and bigger, and one of the main measures of colliery scour protection is at present to drill hole in the coal seam in order to release coal seam pressure, often uses the pressure relief rig to carry out the release work. Most of the presently known pressure relief drilling rigs utilize auger rods to drill the formation.
However, as the depth of the needed drill hole is large, the number of the needed drill rods is large, so that a plurality of drill rods are needed to be connected end to end and are driven into the coal wall; after a drill hole is completed, the drill rod sections must be pulled out into the drill rod box. Because the underground construction places are limited, the automation degree of the drill rod of the existing pressure relief drilling machine during splicing and disassembling is low, the labor intensity of workers is high, the pressure relief drilling machine has to work near the working area of the drilling machine, and accidents are easy to happen.
Disclosure of Invention
The technical problem to be solved is as follows: aiming at the technical problems, the invention provides a mining drilling manipulator, which can effectively solve the problem that a worker is difficult to operate when a drill rod is spliced and disassembled.
The technical scheme is as follows: a mining drilling-replacing manipulator comprises a base, a slewing bearing, a lifting part, a translation part and a paw assembly;
the slewing bearing is arranged between the base and the lifting part;
the lifting part is vertically arranged and used for controlling the vertical lifting of the manipulator;
the translation part is horizontally arranged and used for controlling the horizontal movement of the manipulator; one end of the lifting part is fixedly connected with the top end of the lifting part through a flange;
the gripper assembly is vertical to be set up, including gripper opening and shutting hydro-cylinder, mount, four-bar mechanism, left side embrace claw and right side and embrace the claw, the mount is located on the gripper opening and shutting hydro-cylinder, the top and the translation portion of gripper opening and shutting hydro-cylinder are connected through swing hydro-cylinder transmission, and bottom and four-bar mechanism's top fixed connection, the bottom of four-bar mechanism is controlled left side respectively and is embraced the claw and right side and embrace the claw, the top of embracing the claw and right side and embracing the claw on a left side all is articulated with the mount.
Preferably, the four-bar mechanism comprises a left connecting rod and a right connecting rod, and the left connecting rod and the right connecting rod both comprise two connecting rods hinged with each other; the top ends of the left connecting rod and the right connecting rod are hinged to the bottom end of the gripper opening and closing oil cylinder, and the bottom ends of the left connecting rod and the right connecting rod are hinged to the control ends of the left holding claw and the right holding claw respectively.
Preferably, the lift portion includes lift portion inner skleeve, lift portion outer skleeve and lift cylinder, outside the lift portion inner skleeve was located to lift portion outer skleeve cover, lift cylinder's one end is articulated with the interior bottom of lift portion inner skleeve, and the other end is articulated with the interior top of lift portion outer skleeve.
Preferably, the lifting part outer sleeve and the lifting part inner sleeve are in clearance fit.
Preferably, a hole for mounting the pin shaft and an oil outlet of the lifting oil cylinder are formed in the inner sleeve of the lifting part.
Preferably, the translation portion includes translation portion outer sleeve, translation hydro-cylinder and translation portion inner skleeve, outside translation portion inner skleeve was located to translation portion outer sleeve cover, through the outer top of flange fixed connection lift portion outer skleeve, the one end of translation hydro-cylinder is articulated with the tip in one side of translation portion outer skleeve, and the other end is articulated with the tip in translation portion inner skleeve opposite side.
Preferably, the outer translating part sleeve and the inner translating part sleeve are in clearance fit.
Preferably, the inner sides of the left holding claw and the right holding claw are provided with convex anti-slip blocks
Has the advantages that: the lifting part, the translation part, the paw assembly and other devices cooperate to realize the grabbing, transferring and other work of the whole device of the manipulator on the drill rod. Through the hydraulic drive of the oil cylinder, the hydraulic drive device has the advantages of large unit volume driving force, large working radius and simplicity in operation and control.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a gripper according to the present invention;
in the figure: the device comprises a base 1, a slewing bearing 2, a lifting part inner sleeve 3, a lifting part outer sleeve 4, a lifting oil cylinder 5, a flange 6, a translation part outer sleeve 7, a translation oil cylinder 8, a translation part inner sleeve 9, a swing oil cylinder 10, a gripper assembly 11, a gripper opening and closing oil cylinder 11-1, a fixing frame 11-2, a left connecting rod 11-3, a right connecting rod 11-4, a left gripper 11-5 and a right gripper 11-6.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example 1
As shown in fig. 1 and 2, the mining drilling-replacing manipulator comprises a base 1, a slewing bearing 2, a lifting part, a translation part and a gripper assembly 11.
And the slewing bearing 2 is connected with the fixed base 1 and the bottom of the outer end of the inner sleeve 3 of the lifting part.
The interior bottom of lift portion inner skleeve 3 is articulated with the one end of lift cylinder 5, lift cylinder 5's the other end is articulated at the interior top of the lift portion outer skleeve 4 of the outside of lift portion inner skleeve 3 cover. The lifting part outer sleeve 4 and the lifting part inner sleeve 3 are in clearance fit. In order to facilitate the installation, a hole for installing a pin shaft and an oil outlet of the lifting oil cylinder 5 are formed in the inner sleeve 3 of the lifting part.
The outer end of the top of the lifting part outer sleeve 4 is fixedly provided with a horizontally placed translation part outer sleeve 7 through a flange 6, a translation part inner sleeve 9 is further sleeved in the translation part outer sleeve 7, and two ends of the interior of the translation part outer sleeve 7 and the interior of the translation part inner sleeve 9 are respectively hinged with two ends of a translation oil cylinder 8; the outer translational part sleeve 7 and the inner translational part sleeve 9 are in clearance fit.
And a swing oil cylinder 10 is vertically arranged at the telescopic end part of the inner sleeve 9 of the translation part, and the free end of the swing oil cylinder 10 is in transmission connection with a paw assembly 11 of the drill rod through a paw opening and closing oil cylinder 11-1.
The gripper assembly 11 includes: the device comprises a paw opening and closing oil cylinder 11-1, a fixed frame 11-2, a four-bar mechanism, a left holding paw 11-5 and a right holding paw 11-6. The fixing frame 11-2 is fixed on the paw opening and closing oil cylinder 11-1, the top ends of the left holding claw 11-5 and the right holding claw 11-6 are hinged to the fixing frame 11-2, and the inner sides of the left holding claw 11-5 and the right holding claw 11-6 are provided with convex anti-slip blocks, so that clamped objects can be effectively prevented from falling. The top end of the paw opening and closing oil cylinder 11-1 is in transmission connection with the translation part through the swing oil cylinder 10, and the bottom end of the paw opening and closing oil cylinder is fixedly connected with the top end of the four-bar mechanism. The four-bar mechanism comprises a left connecting rod 11-3 and a right connecting rod 11-4, and the left connecting rod 11-3 and the right connecting rod 11-4 both comprise two connecting rods which are hinged with each other; the top ends of the left connecting rod 11-3 and the right connecting rod 11-4 are hinged to the bottom end of the paw opening and closing oil cylinder 11-1, and the bottom ends of the left connecting rod and the right connecting rod are hinged to the control ends of the left holding paw 11-5 and the right holding paw 11-6 respectively.
When the device is used, the opening and closing of the left holding claw 11-5 and the right holding claw 11-6 are controlled by the claw opening and closing oil cylinder 11-1, and finally the lifting of a drill rod is controlled by the lifting part outer sleeve 4, the lifting oil cylinder 5 and the lifting part inner sleeve 3. The extension and contraction of the drill rod are controlled by the outer translation part sleeve 7, the translation oil cylinder 8 and the inner translation part sleeve 9.
Claims (8)
1. The utility model provides a mining trade rig manipulator which characterized in that: comprises a base (1), a slewing bearing (2), a lifting part, a translation part and a paw assembly (11);
the slewing bearing (2) is arranged between the base (1) and the lifting part;
the lifting part is vertically arranged and used for controlling the vertical lifting of the manipulator;
the translation part is horizontally arranged and used for controlling the horizontal movement of the manipulator; one end of the lifting part is fixedly connected with the top end of the lifting part through a flange (6);
the gripper assembly (11) is vertically arranged and comprises a gripper opening and closing oil cylinder (11-1), a fixing frame (11-2), a four-bar mechanism, a left holding claw (11-5) and a right holding claw (11-6), the fixing frame (11-2) is arranged on the gripper opening and closing oil cylinder (11-1), the top end of the gripper opening and closing oil cylinder (11-1) is in transmission connection with a translation portion through a swing oil cylinder (10), the bottom end of the gripper opening and closing oil cylinder is fixedly connected with the top end of the four-bar mechanism, the bottom end of the four-bar mechanism respectively controls the left holding claw (11-5) and the right holding claw (11-6), and the top ends of the left holding claw (11-5) and the right holding claw (11-6) are hinged to the fixing frame (11-2).
2. The mining drill-changing manipulator according to claim 1, characterized in that: the four-bar mechanism comprises a left connecting rod (11-3) and a right connecting rod (11-4), and the left connecting rod (11-3) and the right connecting rod (11-4) both comprise two connecting rods which are hinged with each other; the top ends of the left connecting rod (11-3) and the right connecting rod (11-4) are hinged with the bottom end of the paw opening and closing oil cylinder (11-1), and the bottom ends are hinged with the control ends of the left holding paw (11-5) and the right holding paw (11-6) respectively.
3. The mining drill-changing manipulator according to claim 1, characterized in that: the lifting part comprises a lifting part inner sleeve (3), a lifting part outer sleeve (4) and a lifting oil cylinder (5), the lifting part inner sleeve (3) is sleeved with the lifting part outer sleeve (4), one end of the lifting oil cylinder (5) is hinged to the inner bottom of the lifting part inner sleeve (3), and the other end of the lifting oil cylinder is hinged to the inner top of the lifting part outer sleeve (4).
4. A mining rig-changing manipulator according to claim 3, characterised in that: the lifting part outer sleeve (4) and the lifting part inner sleeve (3) are in clearance fit.
5. A mining rig-changing manipulator according to claim 3, characterised in that: and a hole for mounting a pin shaft and an oil outlet of the lifting oil cylinder (5) are formed in the inner sleeve (3) of the lifting part.
6. The mining drill-changing manipulator according to claim 1, characterized in that: translation portion includes translation portion outer sleeve (7), translation hydro-cylinder (8) and translation portion inner skleeve (9), outside translation portion inner skleeve (9) were located to translation portion outer sleeve (7) cover, through the outer top of flange (6) fixed connection lift portion outer sleeve (4), the tip is articulated in one side of one end and translation portion outer sleeve (7) of translation hydro-cylinder (8), and the tip is articulated in the other end and translation portion inner skleeve (9) opposite side.
7. The mining drill-changing manipulator according to claim 6, characterized in that: the outer sleeve (7) of the translation part and the inner sleeve (9) of the translation part are in clearance fit.
8. The mining drill-changing manipulator according to claim 1, characterized in that: and convex anti-skidding blocks are arranged on the inner sides of the left holding claw (11-5) and the right holding claw (11-6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110545290.8A CN113107400A (en) | 2021-05-19 | 2021-05-19 | Mining rig manipulator that trades |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110545290.8A CN113107400A (en) | 2021-05-19 | 2021-05-19 | Mining rig manipulator that trades |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113107400A true CN113107400A (en) | 2021-07-13 |
Family
ID=76722733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110545290.8A Pending CN113107400A (en) | 2021-05-19 | 2021-05-19 | Mining rig manipulator that trades |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113107400A (en) |
-
2021
- 2021-05-19 CN CN202110545290.8A patent/CN113107400A/en active Pending
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