CN113604622A - Automatic drill rod replacing device for tapping machine - Google Patents
Automatic drill rod replacing device for tapping machine Download PDFInfo
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- CN113604622A CN113604622A CN202110941192.6A CN202110941192A CN113604622A CN 113604622 A CN113604622 A CN 113604622A CN 202110941192 A CN202110941192 A CN 202110941192A CN 113604622 A CN113604622 A CN 113604622A
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- drill rod
- feeding
- lifting
- clamping
- rotating
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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
Abstract
The invention provides an automatic drill rod replacing device for a tapping machine, which comprises the tapping machine, a track, an automatic drill rod replacing device, a drill rod storing and automatic feeding device and a waste drill rod collecting box, wherein the track is vertical to a walking rail beam of the tapping machine, and the drill rod storing and automatic feeding device and the waste drill rod collecting box are respectively positioned at two sides of the automatic drill rod replacing device. The roller of the traveling mechanism is connected with the rail, a feeding guide rail and a feeding screw of the traveling mechanism are respectively connected with a feeding guide sliding block and a feeding nut of the feeding mechanism, a rotating inner gear of the feeding mechanism is meshed with a rotating outer gear of the rotating mechanism, a lifting guide rail and a lifting screw of the rotating mechanism are respectively connected with a lifting guide sliding block and a lifting nut of the lifting mechanism, the lifting guide sliding block is connected with a mechanical arm truss of the mechanical arm assembly, and a telescopic electric push rod of the mechanical arm assembly is connected with the clamping mechanism. The invention can automatically replace the drill rod of the tapping machine, reduce the labor intensity and the workload by improving mechanical parts and improve the automation level.
Description
Technical Field
The invention relates to the field of automatic operation in front of a metallurgical blast furnace, in particular to an automatic drill rod replacing device for a tapping machine.
Background
The tap hole opening machine is generally used for opening the tap hole, wherein a drill rod used by the tap hole opening machine is a wearing part, and the used drill rod needs to be replaced after the tap hole is opened basically once. At present, most iron and steel production enterprises change drill rods manually, each drill rod weighs about 50 kilograms and is about 7 meters long, and the drill rod changing can be completed only by matching two persons, so the drill rod changing is typical high-intensity repetitive labor, and various potential safety hazards exist in front of a blast furnace iron-making furnace.
With the continuous progress of the iron-making production technology, although a few enterprises have adopted an automatic drill rod replacing device to replace a drill rod, the deformation of the used drill rod is not considered to be serious, and because the weight of the drill rod is larger, the bearing capacity of an articulated robot is smaller, and a common rectangular coordinate robot cannot normally clamp the bent and deformed drill rod, the automatic drill rod replacing device capable of clamping the deformed drill rod without multiple degrees of freedom is needed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic drill rod replacing device for a tapping machine, which reduces high-intensity repetitive labor of workers by arranging the automatic drill rod replacing device, replaces the movement of a drill punching trolley of the tapping machine, reduces the workload of the tapping machine, can clamp and clamp a bent and deformed drill rod, realizes the automatic replacement of the drill rod of the tapping machine, improves the working efficiency and reduces the potential safety hazard.
The invention provides an automatic drill rod replacing device for a tapping machine, which comprises the tapping machine, a track, an automatic drill rod replacing device, a drill rod storing and automatically supplying device and a waste drill rod collecting box, wherein the track is perpendicular to a traveling rail beam of the tapping machine, the lower end of the automatic drill rod replacing device is connected with the track, the drill rod storing and automatically supplying device and the waste drill rod collecting box are respectively positioned on two sides of the automatic drill rod replacing device, and one side of the waste drill rod collecting box, close to the track, is provided with a drill rod feeding guide inclined plate. The automatic drill rod changing device comprises a travelling mechanism, a feeding mechanism, a rotating mechanism, a lifting mechanism, a mechanical arm assembly and an end effector, wherein rollers of the travelling mechanism are connected with rails, a feeding guide rail and a feeding screw of the travelling mechanism are respectively connected with a feeding guide slider and a feeding nut of the feeding mechanism, a rotating inner gear of the feeding mechanism is meshed with a rotating outer gear of the rotating mechanism, a lifting guide rail and a lifting screw of the rotating mechanism are respectively connected with a first end of a lifting guide slider and a lifting nut in the lifting mechanism, a second end of the lifting guide slider in the lifting mechanism is connected with a first end of a mechanical arm truss in the mechanical arm assembly, and a telescopic electric push rod of the mechanical arm assembly is connected with the end effector. The lifting mechanism comprises a lifting guide sliding block, a lifting truss, a balancing weight and a lifting nut, wherein the first end of the lifting guide sliding block and the first end of the lifting nut are respectively connected with the middle parts of the lifting guide rail and the lifting screw rod, the second end of the lifting guide sliding block and the second end of the lifting nut are respectively fixedly connected with the first end and the second end of the lifting truss, and the balancing weight and the third end of the lifting truss are fixedly connected. Arm subassembly, it includes arm truss, flexible electric putter, flexible drive supporting seat, prevents interference recess and flexible guide rail, the first installation end of arm truss with the first end fixed connection of flexible drive supporting seat, the second installation end of arm truss is equipped with prevents interference recess, the second end of flexible drive supporting seat with flexible electric putter's first end is connected, flexible electric putter's second end and fixture are connected, the third installation end of arm truss with flexible guide rail's first end is connected. The clamping mechanism comprises a telescopic sliding block, a clamping driving supporting seat, a clamping steel frame, a clamping hand, a connecting rod, a clamping guide rail, a clamping guide sliding block, a clamping electric push rod, an anti-slip paste and a second vision sensor, wherein the first end of the telescopic sliding block is fixedly connected with the second end of the telescopic electric push rod, the second end of the telescopic sliding block is fixedly connected with the first mounting end of the clamping driving supporting seat, the third end of the telescopic sliding block is connected with the second end of the telescopic guide rail, the first end of the clamping electric push rod is connected with the second mounting end of the clamping driving supporting seat, the second end of the clamping electric push rod is connected with the first end of the clamping guide sliding block, the second end of the clamping guide sliding block is connected with the first end of the clamping guide rail, and the second end of the clamping guide rail is connected with the first mounting end of the clamping steel frame, the third end of centre gripping direction slider with the first end of connecting rod is connected, the second end of connecting rod with the first end of tong all with the second installation end of centre gripping steelframe is connected, the second end of tong is equipped with anti-skidding subsides, the third installation end of centre gripping steelframe is equipped with second vision sensor.
Preferably, the traveling mechanism comprises a traveling base, a traveling gear, a traveling rack, a traveling motor, a supporting shaft, rollers, a feeding guide rail, a feeding screw and a feeding screw supporting seat, wherein a first mounting end of the bottom of the traveling base is fixedly connected with a first mounting end of the supporting shaft, a second mounting end of the bottom of the traveling base is connected with a shell of the traveling motor, an output end of the traveling motor is connected with a first end of the traveling gear, a second end of the traveling gear is meshed with the traveling rack, a second mounting end of the supporting shaft is connected with the rollers, a first mounting end of the top of the traveling base is fixedly connected with the bottom of the feeding guide rail, and a second mounting end of the top of the traveling base is fixedly connected with mounting ends of two sides of the feeding screw through the feeding screw supporting seat.
Preferably, the feeding mechanism comprises a feeding base, a feeding guide slider, a feeding nut, an interference-proof rotary groove, a rotary internal gear, a rotary motor and a feeding motor, the first mounting end and the second mounting end of the bottom of the feeding base are respectively connected with the first end of the feeding guide sliding block and the first end of the feeding nut, the second end of the feed guide slide block and the second end of the feed nut are respectively connected with the top of the feed guide rail and the middle of the feed screw, the output end of the feed motor is connected with the input end of the feed screw, the second mounting end at the bottom of the feed base is fixedly connected with the shell of the rotating motor, the output end of the rotating motor is connected with the first end of the rotating internal gear, the rotating internal gear is located at the top of the feeding base, and interference-preventing rotating grooves are formed in two sides of the top of the feeding base.
Preferably, the rotating mechanism comprises a rotating base, an external rotating gear, a lifting guide rail, a rotating steel frame, a lifting screw, a lifting motor and a first visual sensor, wherein a first mounting end at the bottom of the rotating base is fixedly connected with a first end of the external rotating gear, a second end of the external rotating gear is meshed with a second end of the internal rotating gear, the first mounting end and the second mounting end at the top of the rotating base are respectively connected with a first end of the lifting guide rail and a first end of the lifting screw, the second end of the lifting guide rail and the second end of the lifting screw are respectively connected with a first mounting end and a second mounting end of the rotating steel frame, an output end of the lifting motor is fixedly connected with an input end of the lifting screw, and a third mounting end of the rotating steel frame is provided with the first visual sensor.
Preferably, the tray assembly comprises an upper tray, a connecting spring, a lower support plate and a second pressure sensor, the bottom of the upper tray is connected with the first mounting end of the lower support plate through the connecting spring, and the second mounting end of the lower support plate is connected with the upper part of the second mounting end of the mechanical arm truss; the quantity of connecting spring is 3 at least, and evenly distributed go up the tray with between the lower supporting plate.
Preferably, the running rack and the track are parallel to each other, the running rack is located in the middle of the track, and the length of the track is equal to that of the running rack.
Preferably, the clamping mechanism, the end tray and the tray assembly constitute an end effector, baffle plates are arranged on two sides of the end tray and the upper tray of the tray assembly, the height of each baffle plate is greater than one half of the diameter of a drill rod, and the area of the upper surface of the lower support plate of the tray assembly is greater than the area of the lower surface of the upper tray of the tray assembly; and the top of the tail end tray and the top of the upper tray are respectively provided with a first pressure sensor and a second pressure sensor, and the tail end tray is connected with the top of the second mounting end of the mechanical arm truss.
Preferably, the length of the inner surfaces of the end tray and the upper tray in the tray assembly is greater than the diameter of one of the rods and less than the sum of the diameters of the two rods, and the width of the inner surfaces of the end tray and the upper tray in the tray assembly is greater than the sum of the diameters of the two rods.
Preferably, the drill rod storage and automatic feeding device has a drill rod outlet height and the waste drill rod collecting box has a drill rod inlet guide inclined plate height which are respectively smaller than the lowest height of the lifting range of the lifting mechanism, and the lowest height of the lifting range of the lifting mechanism is smaller than the lowest position of the taphole drilling machine boom.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the space between the taphole drilling machine and the automatic drill rod changing device is increased by arranging the walking track in the automatic drill rod changing device to be vertical to the walking track beam of the taphole drilling machine, arranging the drill rod storage and automatic supply device and the waste drill rod collecting box at two sides of the automatic drill rod changing device and at one end of the standby position of the automatic drill rod changing device; in the design process, the drill rod changing action is also completed by considering the mutual matching with the tapping machine, the structure of the automatic drill rod changing device is simpler, and the interference with the tapping machine can be avoided.
2. According to the invention, through the arrangement of the rectangular coordinate type automatic drill rod changing device, each drill rod changing action is linear motion, the overall rigidity of the automatic drill rod changing device is improved, and the reliability of the drill rod changing equipment is improved.
3. According to the invention, through the scheme design of combining two end effectors in the automatic drill rod changing device, the first end plays a role in bearing and clamping, and the second end plays a role in auxiliary supporting, so that the drill rod to be installed can be clamped and undeformed, and deformed drill rods bent due to high-temperature work can be clamped, the automatic change of the drill rods of the tapping machine is realized, the labor intensity of workers is reduced, the number of drives is reduced, and the cost is reduced.
4. The automatic drill rod discharging and collecting device realizes automatic drill rod discharging and waste drill rod collecting through the arrangement of the drill rod storing and automatic feeding device and the waste drill rod collecting box provided with the drill rod feeding guide inclined plate and the automatic drill rod changing device.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic drill rod changing device for a tapping machine of the present invention in a standby position;
FIG. 2 is a schematic view showing the overall construction of an automatic drill rod changing device for a tapping machine according to the present invention in a working position;
FIG. 3a is a plan view showing a state where a deformed shank rod is thrown away by the automatic shank rod replacing device for a taphole drilling machine according to the present invention;
FIG. 3b is a front view showing a state where a deformed shank rod is thrown away by the automatic shank rod replacing device for a taphole drilling machine according to the present invention;
FIG. 3c is a view showing an overall configuration of the automatic drill rod exchange device for a tapping machine according to the present invention in a state where a deformed drill rod is discarded;
FIG. 4a is a front view showing a state where a drill rod to be loaded is gripped by the automatic drill rod replacing device for a taphole drilling machine according to the present invention;
FIG. 4b is a schematic view of a partial structure of the automatic drill rod replacing device for a taphole drilling machine according to the present invention, clamping the drill rod to be loaded;
FIG. 5 is a schematic view showing the overall structure of the automatic drill rod changer for a tapping machine according to the present invention in a state of conveying a drill rod to be loaded;
FIG. 6 is a schematic structural view of an automatic drill rod changing device of the automatic drill rod changing device for a tapping machine according to the present invention;
FIG. 7a is a front view of the automatic drill rod changing device for a tapping machine according to the present invention in a standby position;
FIG. 7b is a sectional view of the automatic drill rod changing device for a tapping machine according to the present invention in a front view in a standby position;
FIG. 8a is a schematic structural view showing a second embodiment of the partial structure of the automatic drill rod changing device for a tapping machine according to the present invention;
FIG. 8b is an enlarged view of a portion of the clamping mechanism of the automatic drill rod changing device for the tapping machine according to the present invention;
FIG. 8c is a schematic view showing the internal structure of the clamping mechanism of the automatic drill rod replacing device in the automatic drill rod replacing device for a tapping machine according to the present invention;
FIG. 9 is a schematic structural view showing a state where a deformed shank rod is gripped by a second embodiment of a partial structure of an automatic drill rod changing device for a tapping machine according to the present invention;
FIG. 10 is a schematic view showing a state where a drill rod is to be loaded by a second embodiment of the automatic drill rod changing device for a tapping machine according to the present invention.
The main reference numbers:
the tapping machine 1, a rail 2, an automatic drill-changing device 3, a traveling mechanism 31, a traveling base 311, a traveling gear 312, a traveling rack 313, a traveling motor 314, a support shaft 315, a roller 316, a feed guide 317, a feed screw 318, a feed screw support 319, a feed mechanism 32, a feed base 321, a feed guide slider 322, a feed nut 323, an interference-free rotary groove 324, a rotary internal gear 325, a rotary motor 326, a feed motor 327, a rotary mechanism 33, a rotary base 331, a rotary external gear 332, an elevating guide 333, a rotary steel frame 334, an elevating screw 335, an elevating motor 336, an elevating mechanism 34, an elevating guide slider 341, an elevating truss 342, a counter weight 343, an elevating nut 344, a robot arm assembly 35, a robot arm truss 351, an expanding and contracting electric push rod 352, an expanding and contracting drive support seat 353, an interference-free groove 354, an expanding guide 355, a terminal actuator 36, a clamping mechanism 361, the drill rod storage and automatic feeding device comprises a telescopic sliding block 3611, a clamping driving supporting seat 3612, a clamping steel frame 3613, a clamping hand 3614, a connecting rod 3615, a clamping guide rail 3616, a clamping guide sliding block 3617, a clamping electric push rod 3618, an anti-slip paste 3619, a tail end tray 362, a tray assembly 363, an upper tray 3631, a connecting spring 3632, a lower supporting plate 3633, a drill rod storage and automatic feeding device 4, a waste drill rod collecting box 5, a drill rod feeding guide inclined plate 51, a drill rod to be loaded 6, a deformed drill rod 7, a first visual sensor 8, a second visual sensor 9, a first pressure sensor 10 and a second pressure sensor 11.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides an automatic drill rod replacing device for a tapping machine, which comprises a tapping machine 1, a track 2, an automatic drill rod replacing device 3, a drill rod storing and automatic feeding device 4 and a waste drill rod collecting box 5 as shown in figure 1 and combined with figures 2-5, wherein the upper surface inside the track 2 is C-shaped, the upper surface of a wheel of a travelling mechanism can be completely wrapped, the automatic drill rod replacing device is prevented from tilting in the working process, the lower surface is a horizontal plane so as to be convenient to mount, as shown in figure 4b, the upper surface outside the track 2 is flush with the ground, the whole track is embedded underground, and the working space of the automatic drill rod replacing device is reduced.
Establish to the standby position one end of keeping away from tapping machine 1, the drill rod is stored and automatic feeding device 4 and useless borer collecting box 5 all are located 3 standby position one ends of automatic borer device that trade, the perpendicular bisector's of useless borer collecting box 5 position is the borer position of throwing away of automatic borer device 3 that trades, tapping machine 1, drill rod is stored and automatic feeding device 4 and useless borer collecting box 5 all trade the home range of borer device 3 in the automation, the setting up of 2 perpendicular tapping machines of track has increased tapping machine 1 and has traded the space between the borer equipment, it interferes with trading borer equipment to have avoided tapping machine 1 in the motion process.
The automatic drill rod changing device 3, as shown in fig. 4b in combination with fig. 6, 7a, 8b and 8c, includes a traveling mechanism 31, a feeding mechanism 32, a rotating mechanism 33, a lifting mechanism 34, a mechanical arm assembly 35 and an end effector 36, wherein the traveling mechanism 31 adopts a gear-rack transmission mode, the feeding mechanism 32 and the lifting mechanism 34 adopt a lead screw-nut transmission mode, the rotating mechanism 33 adopts an internal gear transmission mode, and the telescopic slider 3611 and the end gripper 36 are both driven by an electric push rod.
The roller 316 of the traveling mechanism 31 is connected with the rail 2, the feeding guide 317 and the feeding screw 318 of the traveling mechanism 31 are respectively connected with the feeding guide slider 322 and the feeding nut 323 of the feeding mechanism 32, the internal rotating gear 325 of the feeding mechanism 32 is meshed with the external rotating gear 332 of the rotating mechanism 33, the lifting guide 333 and the lifting screw 335 of the rotating mechanism 33 are respectively connected with the first end of the lifting guide slider 341 and the lifting nut 344 of the lifting mechanism 34, the second end of the lifting guide slider 341 of the lifting mechanism 34 is connected with the first end of the arm truss 351 of the arm assembly 35, and the telescopic electric push rod 352 of the arm assembly 35 is connected with the end effector 36.
When the drill rod is replaced, the feeding mechanism 32 can realize the axial movement of the drill rod, the movement of a drilling and punching trolley of the tapping machine 1 is replaced, the workload of the tapping machine 1 is reduced, the end effector 36 not only can clamp the undeformed drill rod 6 to be loaded, but also can clamp the deformed drill rod 7 bent due to high-temperature work, the automatic replacement of the drill rod of the tapping machine 1 is realized, and the labor intensity of workers is reduced.
As shown in fig. 6 and 7b, the traveling mechanism 31 includes a traveling base 311, a traveling gear 312, a traveling rack 313, a traveling motor 314, a support shaft 315, a roller 316, a feed rail 317, a feed screw 318, and a feed screw support 319, and the traveling base 311 has a plate-like structure. The traveling mechanism 31 is provided with a driving square groove for mounting the traveling gear 312 and the rotating mechanism 34, and the lower surface thereof is provided with a driving support seat for mounting the traveling motor 314.
The first mounting end at the bottom of the walking base 311 is fixedly connected with the first mounting ends of the two support shafts 315 perpendicular to the track 2, the second mounting end at the bottom of the walking base 311 is connected with the shell of the walking motor 314, the output end of the walking motor 314 is connected with the first end of the walking gear 312, and the second end of the walking gear 312 is meshed with a walking rack 313 laid on the ground, so that the walking of the automatic drill rod changing device 3 on the track 2 is realized; the second mounting end of the supporting shaft 315 is connected with the roller 316, the roller 316 is embedded into the track 2, the upper surface of the roller 316 is completely attached to the C-shaped surface inside the track 2 to prevent tipping, the first mounting end at the top of the walking base 311 is fixedly connected with the bottom of the feeding guide rail 317, and the second mounting end at the top of the walking base 311 is fixedly connected with the mounting ends at two sides of the feeding screw 318 through the feeding screw supporting seat 319.
In a preferred embodiment of the present invention, the running rack 313 and the rail 2 are parallel to each other, the running rack 313 is located at the middle of the rail 2, and the length of the rail 2 is equal to that of the running rack 313.
As shown in fig. 6 and 7a, the feeding mechanism 32 is arranged above the travelling mechanism 31, and realizes the movement in the direction perpendicular to the guide rail through the transmission mode of the screw nut, so that the axial movement of the drill rod can be realized when the drill rod on the tapping machine 1 is replaced, the movement of the drilling and punching trolley of the tapping machine 1 is replaced, and the workload of the tapping machine 1 is reduced; comprises a feeding base 321, a feeding guide slider 322, a feeding nut 323, an interference-proof rotary groove 324, a rotary internal gear 325, a rotary motor 326 and a feeding motor 327; the feeding base 321 is a plate-shaped structure, a rotary guide groove is arranged at the center of the upper surface of the feeding base 321, the feeding nut 323 can be matched with the feeding screw 318 to realize the movement of the feeding mechanism 32, the interference-preventing rotary groove 324 prevents the rotary mechanism 33 from driving the lifting screw 335 on the lifting mechanism 34 to rotate in the rotating process so as to interfere with the upper surface of the feeding mechanism 32, and a rotary mechanism 33 driving circular hole is arranged in the rotary guide groove and used for installing a rotary internal gear 325 driven by an internal gear.
The first mounting end and the second mounting end at the bottom of the feeding base 321 are respectively connected with the first end of the feeding guide slider 322 and the first end of the feeding nut 323, the second end of the feeding guide slider 322 and the second end of the feeding nut 323 are respectively connected with the top of the feeding guide rail 317 and the middle of the feeding screw 318, the output end of the feeding motor 327 is connected with the input end of the feeding screw 318, the second mounting end at the bottom of the feeding base 321 is fixedly connected with the shell of the rotating motor 326, the output end of the rotating motor 326 is connected with the first end of the rotating internal gear 325, the rotating internal gear 325 is positioned at the top of the feeding base 321, and the two sides at the top of the feeding base 321 are provided with anti-interference rotating grooves 324.
Specifically, the number of the feed guide sliders 322 is six, which not only plays a guide role but also plays a supporting role; the feed screw 318 is used in cooperation with one feed nut 323 to move the feed mechanism 32.
As shown in fig. 6 and 7b, a rotation mechanism 33 is provided above the feeding mechanism 32, which realizes rotation in the vertical direction by gear transmission, and moves the auxiliary grabbing drill rods together with the feeding mechanism 32; the visual inspection device comprises a rotating base 331, a rotating outer gear 332, a lifting guide rail 333, a rotating steel frame 334, a lifting screw 335, a lifting motor 336 and a first visual sensor 8. The rotary base 311 is of a plate-shaped structure, a rotary guide strip concentric with the rotary outer gear 332 is arranged outside the rotary outer gear 332 and is embedded into a rotary guide groove in the lower surface of the feeding base 321, supporting legs are arranged at four corners of the bottom of the rotary base 311 to increase stability, circular holes are formed in the rotary base 331 and the rotary steel frame 334 and are used for mounting the lifting screw rod 335, the rotary outer gear 332 is matched with the rotary inner gear 325 to rotate the rotary mechanism 33, and the lifting motor 336 is used for driving the lifting screw rod 335.
The first installation end of the bottom of the rotating base 331 is fixedly connected with the first end of the rotating outer gear 332, the second end of the rotating outer gear 332 is meshed with the second end of the rotating inner gear 325, the first installation end and the second installation end at the top of the rotating base 331 are respectively connected with the first end of the lifting guide rail 333 and the first end of the lifting screw 335, the second end of the lifting guide rail 333 and the second end of the lifting screw 335 are respectively connected with the first installation end and the second installation end of the rotating steel frame 334, the output end of the lifting motor 336 is fixedly connected with the input end of the lifting screw 335, and the third installation end of the rotating steel frame 334 is provided with the first visual sensor 8.
The lifting mechanism 34 moves up and down on the rotating mechanism 33 in a transmission mode of a screw nut, so that the drill rod is grabbed in an auxiliary mode; comprising a lifting guide block 341, a lifting truss 342, a weight 343 and a lifting nut 344, the weight 343 being used to prevent tipping over due to an excessive weight of the drill rod.
As shown in fig. 6 and 8a, a first end of the lifting guide block 341 and a first end of the lifting nut 344 are respectively connected to the middle of the lifting guide rail 333 and the lifting screw 335, a second end of the lifting guide block 341 and a second end of the lifting nut 344 are respectively fixedly connected to a first end and a second end of the lifting truss 342, and a counterweight 343 is fixedly connected to a third end of the lifting truss 342.
As shown in fig. 6 and 8b, the mechanical arm assembly 35 is fixedly connected with the lifting mechanism 34 to assist in grabbing the drill rod; comprises a mechanical arm truss 351, a telescopic electric push rod 352, a telescopic driving supporting seat 353, an interference preventing groove 354 and a telescopic guide rail 355; the interference prevention groove 354 may prevent interference with the robot arm truss 351 during movement of the clamping mechanism 361.
The first installation end of arm truss 351 and the first end fixed connection of flexible drive supporting seat 353, the second installation end of arm truss 351 is equipped with prevents interference recess 354, and the second end of flexible drive supporting seat 353 and the first end of flexible electric putter 352 are connected, and the second end of flexible electric putter 352 and fixture 36 are connected, and the third installation end of arm truss 351 and the first end of flexible guide rail 355 are connected.
As shown in fig. 6 and 8c, the clamping mechanism 361 includes a telescopic slider 3611, a clamping driving support 3612, a clamping steel frame 3613, a clamping hand 3614, a connecting rod 3615, a clamping guide 3616, a clamping guide slider 3617, a clamping electric push rod 3618, an anti-slip sticker 3619 and a second vision sensor 9; the clamping hand 3614, the connecting rod 3615, the clamping guide rail 3616, the clamping guide slider 3617, the clamping electric push rod 3618, the clamping steel frame 3613 and the anti-slip sticker 3619 form a tail end clamp, the tail end clamp is of a connecting rod lever type structure, and the upper clamping hand 3614 and the lower clamping hand 3614 are all arc structures capable of wrapping a drill rod.
The first end of the telescopic slider 3611 is fixedly connected with the second end of the telescopic electric push rod 352, the second end of the telescopic slider 3611 is fixedly connected with the first mounting end of the clamping driving support seat 3612, the third end of the telescopic slider 3611 is connected with the second end of the telescopic guide rail 355, the first end of the clamping electric push rod 3618 is connected with the second mounting end of the clamping driving support seat 3612, the second end of the clamping electric push rod 3618 is connected with the first end of the clamping guide slider 3617, the second end of the clamping guide slider 3617 is connected with the first end of the clamping guide rail 3616, the second end of the clamping guide rail 3616 is connected with the first mounting end of the clamping steel frame 3613, the third end of the clamping guide slider 3617 is connected with the first end of the connecting rod 3615, the second end of the connecting rod 3615 is connected with the first end of the clamping hand 3614, the second end of the clamping hand is connected with the second mounting end of the clamping steel frame 3613, the third end of the clamping steel frame 3613 is provided with an anti-slip sticker, and the third mounting end of the clamping steel frame 3613 is provided with a second visual sensor 9.
The tray assembly 363 comprises an upper tray 3631, a connecting spring 3632, a lower supporting plate 3633 and a second pressure sensor 11, wherein the bottom of the upper tray 3631 is connected with a first mounting end of the lower supporting plate 3633 through the connecting spring 3632, a second mounting end of the lower supporting plate 3633 is connected with the upper part of a second mounting end of the mechanical arm truss 351, and the top of the upper tray 3631 is provided with the second pressure sensor 11; the number of the connecting springs 3622 is at least 3, and the connecting springs are uniformly distributed between the upper tray 3631 and the lower support plate 3633; when the connecting spring 3622 is in a natural state, the upper surface of the upper tray 3631 is higher than the diameter of the middle seam of the clamping hand 3614 of the clamping mechanism 36 in a clamping state by more than half a drill rod.
The clamping mechanism 361, the tail end tray 362 and the tray assembly 363 form the tail end actuator 36, the clamping mechanism 361 can move on the mechanical arm assembly 35 in a driving mode of a telescopic electric push rod, a bearing and clamping effect is achieved in the process of grabbing drill rods, clamping action is achieved in a mode of combining connecting rods and levers, the tail end tray 362 and the tray assembly 363 are fixedly connected to the mechanical arm assembly 35, and an auxiliary supporting effect is achieved in the process of grabbing drill rods.
Baffles are arranged on two sides of the end tray 362 and the upper tray 3631 of the tray assembly 363, the height of each baffle is larger than one half of the diameter of the drill rod, and the area of the upper surface of the lower support plate 3633 of the tray assembly 363 is larger than that of the lower surface of the upper tray 3631 of the tray assembly 363; the top of the end tray 362 is provided with the first pressure sensor 10, and the end tray 362 is connected to the top of the second mounting end of the robot arm truss 351.
The length of the inner surface of the end tray 362 and the upper tray 3631 in the tray assembly 363 is greater than the diameter of one rod and less than the sum of the diameters of two rods, and the width of the inner surface of the end tray 362 and the upper tray in the tray assembly is greater than the sum of the diameters of two rods.
The drill rod storage and automatic feeding device 4 has the drill rod outlet height and the drill rod inlet guide inclined plate 51 of the waste drill rod collecting box 5 lower than the lowest height of the lifting range of the lifting mechanism 34, and the lowest height of the lifting range of the lifting mechanism 34 is lower than the lowest position of the large arm of the tapping machine, so that the automatic drill rod changing device is prevented from interfering with the tapping machine 1 when driving the drill rod to rotate.
The automatic drill rod changing device for a tapping machine according to the invention is further described below with reference to the following examples:
when the drill rod replacing device is used for replacing drill rods, the complete installation, reasonable layout and smooth operation of the tapping machine 1, the track 2, the automatic drill rod replacing device 3, the drill rod storage and automatic feeding device 4 and the waste drill rod collecting box 5 are ensured.
The first embodiment is as follows:
as shown in fig. 6, two identical lifting mechanisms 34 are first taken and respectively mounted on the lifting guide rails 333 and the lifting screw shaft 335 at the two ends of the top of the rotating mechanism 33; then, the two mechanical arm assemblies 35 are respectively connected with the lifting trusses 342 of the two lifting mechanisms 34, the first mechanical arm assembly 35 is installed according to the connection relation of the structures, and the second mechanical arm assembly 35 is only provided with a mechanical arm truss 351; finally, a gripper mechanism 361 is mounted on the first arm assembly 35 and an end tray 362 is mounted on the second arm assembly 35.
The operation process of the automatic drill rod replacing device for the tapping machine is realized as follows:
first, when the taphole drilling machine 1 is in operation, the automatic drill rod changing device 3 is in a standby position, as shown in fig. 1, the lifting mechanisms 34 are all at the lowest position of the lifting range, the feeding mechanism 32 is at the rightmost end, and the initial state of the clamping mechanism 361 is at the rearmost end of the telescopic range.
Then, when the first vision sensor 8 on the automatic drill-changing device 3 detects that the tap hole machine 1 returns to the standby position to wait for the replacement of the drill rod, the traveling mechanism 31 starts to operate, the automatic drill-changing device 3 is driven to travel to the working position on the rail 2, as shown in fig. 2, when the second vision sensor 9 on the clamping mechanism 361 detects the position of the deformed drill rod 7, the clamping mechanism 361, the mechanical arm assembly 35 connected to the clamping mechanism 361, and the lifting mechanism 34 controlling the lifting of the clamping mechanism 361 start to operate until the deformed drill rod 7 is gripped.
Then, the lifting mechanism 34 of the end tray 362 is controlled to start to ascend, when the first pressure sensor 10 on the end tray 362 detects that the deformed drill rod 7 is held, the lifting mechanism 34 of the end tray 362 is controlled to stop working, the rock drill on the taphole drilling machine 1 starts to rotate in the drill rod unloading direction, the feeding mechanism 32 starts to work at the same time, the deformed drill rod 7 is driven to move axially to be matched with the rock drill to complete the drill rod unloading action, at the moment, the feeding mechanism 32 moves to the leftmost end, the lifting mechanism 34 of the automatic drill rod changing device 3 is matched with the traveling mechanism 31 to unload the deformed drill rod 7 out of the drill rod support frame of the taphole drilling machine 1 and descend to the lowest position lower than the large arm of the taphole drilling machine 1, and the automatic drill rod changing device 3 is ensured not to interfere with the taphole drilling machine 1 when driving the drill rod to rotate, and the drill rod unloading work is completed.
Then, the rotating mechanism 33 drives the deformed drill rod 7 to rotate 90 degrees towards the waste drill rod collecting box 5, the traveling mechanism 31 starts to drive the automatic drill rod changing device 3 to move to the drill rod throwing position, as shown in fig. 3a, 3b and 3c, the lifting mechanism 34 controlling the clamping mechanism 36 and the end tray 362 starts to descend simultaneously after being adjusted to the same height, when the first pressure sensor 10 on the end tray 362 detects that the deformed drill rod 7 falls onto the drill rod entering guide inclined plate 51 of the waste drill rod collecting box 5, the clamping mechanism 361 starts to drive the clamping handle 3614 to open, the deformed drill rod 7 falls into the waste drill rod collecting box 5, and the drill rod throwing work is completed.
Next, the lifting mechanism 34 and the holding mechanism 361 return to the initial state, the rotating mechanism 33 rotates 180 degrees in the direction of the drill rod storage and automatic feeding device 4, at this time, the end tray 362 is located right below the drill rod 6 to be loaded, the second vision sensor 9 on the holding mechanism 361 detects the position of the drill rod 6 to be loaded, the holding mechanism 361, the robot arm assembly 35 connected to the holding mechanism 361, and the lifting mechanism 34 controlling the lifting mechanism 361 to lift start working, until the drill rod 6 to be loaded is gripped, and at the same time, the lifting mechanism 34 controlling the end tray 362 starts to lift, and when the first pressure sensor 10 on the end tray 362 detects that the drill rod 6 to be loaded is held, the lifting mechanism 34 controlling the end tray stops working, as shown in fig. 4 a. The elevating mechanism 34 controlling the gripping mechanism 361 and the end tray 362 is simultaneously raised until the automatic drill-changing device 3 does not interfere with the drill rod storing and automatic feeding device 4, and the drill rod taking operation is completed.
Then, the traveling mechanism 31 drives the automatic drill-changing device 3 to move to the working position, as shown in fig. 5. The rotating mechanism 33 drives the drill rod 6 to be installed to rotate 90 degrees towards the direction of the tapping machine 1, the drill rod 6 to be installed is placed on a drill rod supporting frame of the tapping machine 1 under the cooperation of the lifting mechanism 34 and the traveling mechanism 31, the drill rod 6 to be installed is aligned with a threaded hole of the rock drill, the rock drill starts to rotate towards the direction of installing drill rods, the feeding mechanism 32 is matched with the feeding mechanism to complete the action of installing drill rods, and at the moment, the feeding mechanism 32 is located at the rightmost end to complete the work of installing drill rods.
Finally, after the drill rod 6 to be installed is installed, the clamping handle 3614 is opened, the telescopic electric push rod 352 drives the clamping mechanism 361 to retract, the lifting mechanism 34 is lowered to the lowest position, the traveling mechanism 31 drives the automatic drill rod changing device 3 to return to the standby position, the next drill rod unloading work is waited, and the homing work is completed.
Example two:
as shown in fig. 8a and fig. 8b and 8c, first, a lifting mechanism 34 having a lifting truss 342 with two mechanical arm assemblies 35 is taken and installed on a lifting guide rail 333 and a lifting lead screw 335 at two ends of the top of the rotating mechanism 33; then, the two mechanical arm assemblies 35 are respectively connected with two ends of a lifting truss 342 of the lifting mechanism 34, the first mechanical arm assembly 35 is installed according to the connection relation of the structures, and the second mechanical arm assembly 35 is only provided with a mechanical arm truss 351; finally, a clamping mechanism 361 is mounted on the first robot arm assembly 35 and a tray assembly 363 is mounted on the second robot arm assembly 35.
The operation process of the embodiment is realized as follows:
first, when the taphole drilling machine 1 is in operation, the automatic drill rod changing device 3 is in a standby position, as shown in fig. 1, at this time, the lifting mechanism 34 controls the clamping mechanism 361 and the tray assembly 363 simultaneously, and the initial state is that the lifting mechanism 34 is at the lowest position of the lifting range, the feeding mechanism 32 is at the rightmost end, and the initial state of the clamping mechanism 361 is at the rearmost end of the telescopic range.
Then, when the first vision sensor 8 on the automatic drill-changing device 3 detects that the tapping machine 1 returns to the standby position to wait for the replacement of the drill rod, the traveling mechanism 31 starts to operate, and drives the automatic drill-changing device 3 to travel on the rail 2 to the operating position, as shown in fig. 2, the second vision sensor 9 on the clamping mechanism 361 detects the position of the deformed drill rod 7, the lifting mechanism 34 and the telescopic system on the mechanical arm assembly 35 connected with the clamping mechanism 361 cooperate with each other until the clamping mechanism 361 clamps the deformed drill rod 7, and the connecting spring 3632 on the tray assembly 363 compensates for the displacement difference caused by the deformation of the drill rod, as shown in fig. 9.
Then, after the clamping mechanism 361 clamps the deformed drill rod 7, the rock drill on the taphole drilling machine starts to rotate in the drill rod unloading direction, the feeding mechanism 32 starts to work at the same time, the deformed drill rod 7 is driven to move axially to be matched with the rock drill to finish the drill rod unloading action, at this time, the feeding mechanism 32 moves to the leftmost end, the lifting mechanism 34 and the traveling mechanism 31 of the automatic drill rod changing device 3 are matched with each other, the deformed drill rod 7 is unloaded from the drill rod support frame of the taphole drilling machine 1 and descends to the lowest position lower than the large arm of the taphole drilling machine 1, and the automatic drill rod changing device 3 is guaranteed not to interfere with the taphole drilling machine 1 when driving the drill rod to rotate, so that the drill rod unloading work is finished.
Then, the rotating mechanism 33 drives the deformed drill rod 7 to rotate 90 degrees towards the waste drill rod collecting box 5, the traveling mechanism 31 starts to drive the automatic drill rod changing device 3 to move to the drill rod throwing position, the lifting mechanism 34 starts to descend, when the second pressure sensor 11 on the upper tray 3631 detects that the deformed drill rod 7 falls on the drill rod feeding guide inclined plate 51 of the waste drill rod collecting box 5, the clamping mechanism 361 starts to drive the clamping hand 3614 to open, the deformed drill rod 7 falls into the waste drill rod collecting box 5, and the drill rod throwing work is completed.
Then, the lifting mechanism 34 and the clamping mechanism 361 return to the initial state, the rotating mechanism 33 rotates 180 degrees towards the drill rod storing and automatic feeding device 4, at this time, the tray assembly 363 is located right below the drill rod 6 to be installed, the second vision sensor 9 on the clamping mechanism 361 detects the position of the drill rod 6 to be installed, the clamping mechanism 361 and the lifting mechanism 34 start to work until the drill rod 6 to be installed is clamped, at this time, the connecting spring 3632 is in a contracted state, as shown in fig. 10, the lifting mechanism 34 is lifted until the automatic drill rod replacing device 3 does not interfere with the drill rod storing and automatic feeding device 4, and the drill rod taking work is completed.
Then, the running mechanism 31 drives the automatic drill rod changing device 3 to move to a working position, the rotating mechanism 33 drives the drill rod 6 to be installed to rotate 90 degrees towards the direction of the taphole drilling machine 1, the drill rod 6 to be installed is placed on a drill rod supporting frame of the taphole drilling machine 1 under the matching of the lifting mechanism 34 and the running mechanism 31, the drill rod 6 to be installed is aligned to a threaded hole of the rock drilling machine, the rock drilling machine starts to rotate towards the drill rod installing direction, the feeding mechanism 32 is matched with the feeding mechanism to complete the drill rod installing action, and at the moment, the feeding mechanism 32 is located at the rightmost end to complete the drill rod installing work.
Finally, after the drill rod 6 is assembled, the clamping handle 3614 is opened, the telescopic electric push rod 352 drives the clamping mechanism 361 to retract to the initial state, the lifting mechanism 34 descends to the lowest position, the travelling mechanism 31 drives the automatic drill rod changing device 3 to return to the standby position, the next drill rod unloading work is waited, and the returning work is completed.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (9)
1. An automatic drill rod replacing device for a tapping machine is characterized by comprising the tapping machine, a track, an automatic drill rod replacing device, a drill rod storing and automatically supplying device and a waste drill rod collecting box, wherein the track is perpendicular to a traveling rail beam of the tapping machine, the lower end of the automatic drill rod replacing device is connected with the track, the drill rod storing and automatically supplying device and the waste drill rod collecting box are respectively positioned at two sides of the automatic drill rod replacing device, one side of the waste drill rod collecting box, which is close to the track, is provided with a drill rod feeding guide inclined plate,
the automatic drill rod changing device comprises a travelling mechanism, a feeding mechanism, a rotating mechanism, a lifting mechanism, a mechanical arm assembly and an end effector, wherein a roller of the travelling mechanism is connected with a track, a feeding guide rail and a feeding screw rod of the travelling mechanism are respectively connected with a feeding guide sliding block and a feeding nut of the feeding mechanism, a rotating inner gear of the feeding mechanism is meshed with a rotating outer gear of the rotating mechanism, a lifting guide rail and a lifting screw rod of the rotating mechanism are respectively connected with a first end of a lifting guide sliding block and a lifting nut in the lifting mechanism, a second end of the lifting guide sliding block in the lifting mechanism is connected with a first end of a mechanical arm truss in the mechanical arm assembly, and a telescopic electric push rod of the mechanical arm assembly is connected with the end effector;
the lifting mechanism comprises a lifting guide sliding block, a lifting truss, a balancing weight and a lifting nut, wherein the first end of the lifting guide sliding block and the first end of the lifting nut are respectively connected with the lifting guide rail and the middle part of the lifting screw rod, the second end of the lifting guide sliding block and the second end of the lifting nut are respectively fixedly connected with the first end and the second end of the lifting truss, and the balancing weight is fixedly connected with the third end of the lifting truss; the mechanical arm assembly comprises a mechanical arm truss, a telescopic electric push rod, a telescopic driving supporting seat, an anti-interference groove and a telescopic guide rail, wherein a first mounting end of the mechanical arm truss is fixedly connected with a first end of the telescopic driving supporting seat, a second mounting end of the mechanical arm truss is provided with the anti-interference groove, a second end of the telescopic driving supporting seat is connected with the first end of the telescopic electric push rod, a second end of the telescopic electric push rod is connected with the clamping mechanism, and a third mounting end of the mechanical arm truss is connected with the first end of the telescopic guide rail;
the clamping mechanism comprises a telescopic sliding block, a clamping driving supporting seat, a clamping steel frame, a clamping hand, a connecting rod, a clamping guide rail, a clamping guide sliding block, a clamping electric push rod, an anti-slip paste and a second vision sensor, wherein the first end of the telescopic sliding block is fixedly connected with the second end of the telescopic electric push rod, the second end of the telescopic sliding block is fixedly connected with the first mounting end of the clamping driving supporting seat, the third end of the telescopic sliding block is connected with the second end of the telescopic guide rail, the first end of the clamping electric push rod is connected with the second mounting end of the clamping driving supporting seat, the second end of the clamping electric push rod is connected with the first end of the clamping guide sliding block, the second end of the clamping guide sliding block is connected with the first end of the clamping guide rail, and the second end of the clamping guide rail is connected with the first mounting end of the clamping steel frame, the third end of centre gripping direction slider with the first end of connecting rod is connected, the second end of connecting rod with the first end of tong is connected, the second end of tong with the second installation end of centre gripping steelframe is connected, the third end of tong is equipped with anti-skidding subsides, the third installation end of centre gripping steelframe is equipped with second vision sensor.
2. The automatic shank exchanger for a tapping machine as claimed in claim 1, characterized in that the running gear, which comprises a walking base, a walking gear, a walking rack, a walking motor, a supporting shaft, a roller, a feeding guide rail, a feeding screw and a feeding screw supporting seat, the first mounting end at the bottom of the walking base is fixedly connected with the first mounting end of the supporting shaft, the second mounting end at the bottom of the walking base is connected with the shell of the walking motor, the output end of the walking motor is connected with the first end of the walking gear, the second end of the walking gear is meshed with the walking rack, the second mounting end of the supporting shaft is connected with the roller, the first mounting end at the top of the walking base is fixedly connected with the bottom of the feeding guide rail, and the second mounting end at the top of the walking base is fixedly connected with the mounting ends at the two sides of the feeding screw through the feeding screw supporting seat.
3. The automatic drill rod replacing device for a taphole drilling machine according to claim 1, wherein the feeding mechanism comprises a feeding base, a feeding guide slider, a feeding nut, an interference-proof rotation slot, a rotating internal gear, a rotating motor and a feeding motor, wherein a first mounting end and a second mounting end of the bottom of the feeding base are respectively connected with a first end of the feeding guide slider and a first end of the feeding nut, a second end of the feeding guide slider and a second end of the feeding nut are respectively connected with the top of the feeding guide rail and the middle of the feeding screw, an output end of the feeding motor is connected with an input end of the feeding screw, the second mounting end of the bottom of the feeding base is fixedly connected with a housing of the rotating motor, and an output end of the rotating motor is connected with a first end of the rotating internal gear, the rotary internal gear is positioned at the top of the feeding base, and anti-interference rotary grooves are formed in two sides of the top of the feeding base.
4. The automatic drill rod replacing device for the taphole drilling machine according to claim 1, wherein the rotating mechanism comprises a rotating base, an external rotating gear, a lifting rail, a rotating steel frame, a lifting screw, a lifting motor and a first vision sensor, a first mounting end at the bottom of the rotating base is fixedly connected with a first end of the external rotating gear, a second end of the external rotating gear is meshed with a second end of the internal rotating gear, the first mounting end and the second mounting end at the top of the rotating base are respectively connected with the first end of the lifting rail and the first end of the lifting screw, the second end of the lifting rail and the second end of the lifting screw are respectively connected with the first mounting end and the second mounting end of the rotating steel frame, and an output end of the lifting motor is fixedly connected with an input end of the lifting screw, and a first vision sensor is arranged at the third mounting end of the rotating steel frame.
5. The automatic drill rod replacing device for a taphole drilling machine according to claim 1, wherein the tray assembly comprises an upper tray, a connecting spring, a lower support plate and a second pressure sensor, wherein the bottom of the upper tray is connected with the first mounting end of the lower support plate through the connecting spring, and the second mounting end of the lower support plate is connected with the upper portion of the second mounting end of the mechanical arm truss; the quantity of connecting spring is 3 at least, and evenly distributed go up the tray with between the lower supporting plate.
6. The automatic drill rod changing device for a taphole drilling machine according to claim 1 or 2, characterized by the fact that the running rack and the track are parallel to each other, the running rack being located in the middle of the track, the length of the track and the running rack being equal.
7. The automatic drill rod replacing device for a taphole drilling machine according to claim 1 or 5, characterized in that the clamping mechanism, the end tray and the tray assembly constitute an end effector, the end tray and the upper tray of the tray assembly are provided with baffles on both sides, the height of the baffles is greater than one half of the diameter of the drill rod, the upper surface area of the lower support plate of the tray assembly is greater than the lower surface area of the upper tray of the tray assembly; and the top of the tail end tray and the top of the upper tray are respectively provided with a first pressure sensor and a second pressure sensor, and the tail end tray is connected with the top of the second mounting end of the mechanical arm truss.
8. The automatic drill rod changing device for a tapping machine according to claim 7, wherein the length of the inner surface of the end tray and the upper tray in the tray assembly is greater than the diameter of one drill rod and less than the sum of the diameters of two drill rods, and the width of the inner surface of the end tray and the upper tray in the tray assembly is greater than the sum of the diameters of two drill rods.
9. The automatic drill rod replacing device for a taphole drilling machine according to claim 1, wherein the drill rod height of the drill rod storing and automatic feeding device and the drill rod guiding inclination plate of the waste drill rod collecting box are each smaller than the lowest height of the elevating range of the elevating mechanism, which is smaller than the lowest position of the arm of the taphole drilling machine.
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| CN113604622B (en) | 2022-04-19 |
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