CN114955750B - Wire winding device for electric drive drill floor manipulator - Google Patents
Wire winding device for electric drive drill floor manipulator Download PDFInfo
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- CN114955750B CN114955750B CN202210605636.3A CN202210605636A CN114955750B CN 114955750 B CN114955750 B CN 114955750B CN 202210605636 A CN202210605636 A CN 202210605636A CN 114955750 B CN114955750 B CN 114955750B
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- manipulator
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- turntable
- winding device
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- 238000004804 winding Methods 0.000 title claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000000903 blocking effect Effects 0.000 claims description 15
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 238000005553 drilling Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/48—Automatic re-storing devices
- B65H75/486—Arrangements or adaptations of the spring motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4457—Arrangements of the frame or housing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Abstract
The invention belongs to the technical field of drill floor manipulators, and particularly relates to a wire collecting device for an electric drive drill floor manipulator. The mechanical arm trolley comprises at least two straight rails, a mechanical arm trolley body, a turntable and a winding device, wherein the mechanical arm trolley body is connected onto the straight rails in a sliding mode, a driving mechanism used for driving the mechanical arm trolley body to reciprocate along the straight rails is installed on the mechanical arm trolley body, the turntable is rotationally arranged at the joint of the end parts of the straight rails and used for transferring the mechanical arm trolley body between the straight rails, the winding device is arranged in the mechanical arm trolley body, a cable is wound on the winding device, and the end head of the first end of the cable extends along the length direction of the straight rails and is connected onto the turntable in a positioning mode. The automatic pay-off and take-up device is used for realizing the automatic pay-off and take-up functions without disassembling a cable connector when the drill floor manipulator rotates by 90 degrees; the working efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of drill floor manipulators, and particularly relates to a wire collecting device for an electric drive drill floor manipulator.
Background
The electric drive drilling floor manipulator is a multifunctional automatic device used on an oil drilling platform, and is mainly used for: the kelly bar is buckled with a drilling tool in the mouse hole; the kelly bar is moved into a rat hole; automatically discharging the upright post during the drill starting; moving the upright post to a wellhead during the drilling; moving the drill rod from the gate ramp into the mousehole; the drill pipe is moved from the wellhead or mousehole to a gate ramp or the like.
At present, a power line and a signal line of the existing domestic electric drive drilling table manipulator penetrate through a drag chain, and when the manipulator moves, the drag chain drives a cable to move along with the movement of the manipulator.
However, when the manipulator is in a standby state, the manipulator needs to be moved to the other end of the L-shaped track, namely, the manipulator needs to be rotated by 90 degrees to be moved to the other straight track, during which the cable plug needs to be disassembled, the drag chain is disassembled, and when the manipulator moves to the other track, the drag chain is reinstalled, so that the whole operation is complicated, the drag chain occupies a large space and is easy to collide and damage.
Disclosure of Invention
The technical problem to be solved by the embodiment of the application is to overcome the defects of the prior art, and provide a wire winding device for an electric drive drill floor manipulator, which is used for solving the problem that the transfer efficiency is influenced by a cable drag chain of the drill floor manipulator.
The technical scheme for solving the technical problems in the embodiment of the application is as follows: a take-up for an electrically driven drill floor manipulator, comprising: at least two straight rails;
the manipulator trolley is connected to the straight rail in a sliding manner, and a driving mechanism for driving the manipulator trolley to reciprocate along the straight rail is arranged on the manipulator trolley;
the turntable is rotatably arranged at the joint of the end parts of the straight rails and used for transferring the manipulator trolley between the straight rails;
the winding device is arranged in the manipulator trolley, a cable is wound on the winding device, and the end head of the first end of the cable extends along the length direction of the straight rail and is positioned and connected to the turntable.
Through the rotatable revolving stage that sets up with straight rail tip junction, can be very convenient with the dolly of drive connection on straight rail shift to another straight rail from a straight rail, and the roll-up device that sets up in the manipulator dolly can be used for the rolling to accomodate the power cable at manipulator dolly removal in-process, the end of cable is fixed on the revolving stage, and the manipulator dolly removes and does not receive the influence, and simultaneously the manipulator dolly removes to on the revolving stage after, and the cable is received to shortest, shifts to another straight rail after, and the roll-up device releases the cable, has avoided the trouble of the frequent dismouting tow chain of conversion track.
Further, the straight rail opposite to the rotating center of the rotary table comprises a rail frame and straight racks which are arranged on the rail frame and are in driving connection with the manipulator trolley, and the rotary table is provided with auxiliary racks which are connected with the racks on the straight rail after rotating.
The device is arranged opposite to the rotating center of the rotary table, so that after the straight rack on the straight rail rotates by a certain angle, the auxiliary rack on the rotary table can correspond to the straight racks on different straight rails, the engaged auxiliary rack and the straight rack are in a straight line, the tooth surfaces on the auxiliary rack are positioned on the same surface, and the manipulator trolley connected to the straight rack is driven to move to the auxiliary rack smoothly through the straight rack.
Further, the end part of the turntable, which is connected with the straight rail, is arranged into an arc shape around the rotation center of the turntable, and the end part of the straight rail, which is opposite to the turntable, is arranged into a concave arc shape matched with the arc shape.
The joint of the turntable and the straight rail is set to be an arc and a concave arc which are matched with each other, so that the gap between the turntable and the straight rail is as small as possible when the turntable rotates, and the manipulator trolley can smoothly reciprocate through the auxiliary rack and the straight rack which are mutually connected.
Further, a wire inlet end fixing support is arranged on the turntable, and a cable connector which is arranged opposite to the winding device is arranged on the wire inlet end fixing support.
The cable connector which is arranged opposite to the winding device is connected with the end head of the first end of the cable, so that the cable can be quickly inserted, the end head of the cable is fixed on the turntable, and the winding device can play a good role in positioning when being wound and unwound.
Further, a hanging support is arranged on one side, close to the rotary table, of the manipulator trolley, a hook matched with the hanging support is arranged at the bottom of the wire inlet end fixing support, and the wire inlet end fixing support is used for retracting the manipulator in a standby state.
Further, the winding device includes:
the electrical connection point of the slip ring stator is connected with a power patch cable on the manipulator trolley;
the winding device is coaxially arranged with the slip ring, the cable is wound on the winding device, and the second end of the cable is connected with an electric connection point of the slip ring rotor.
The cable is wound on the winding device to play a certain accommodating role, the cable is connected with a power supply on the manipulator trolley by the slip ring, the winding device and the rotor of the slip ring synchronously rotate, and the winding device can be electrically connected all the time in the winding and unwinding process.
Further, the winding device includes:
the rotary sleeve is rotationally sleeved outside the slip ring and synchronously rotates with the slip ring rotor, the second end of the cable is wound on the rotary sleeve and then passes through the side wall of the rotary sleeve to be connected with an electric connection point of the slip ring rotor, and the peripheral surface of the rotary sleeve is opposite to the rotary table;
the winding drum is synchronously rotated with the roller, and a spring assembly is arranged in the winding drum to drive the roller to rotate around the winding direction.
Further, the spring assembly includes: the clutch spring comprises a clutch spring and a clockwork spring, wherein the outer ring end of the clutch spring is connected with the rotation center of the winding drum, the inner ring end of the clutch spring is connected with one end of the clockwork spring, and the clockwork spring is wound around the clutch spring and is accommodated in the winding drum.
The clutch coil spring is tightly wound around the fixed shaft when the clutch coil spring rotates clockwise by utilizing the cooperation of the clutch coil spring and the clockwork spring which are connected with each other, and the clockwork spring outputs torque and works normally; when the clutch coil spring rotates anticlockwise, the clutch coil spring and the fixed shaft are loosened, the clockwork spring does not have torque output and cannot work, and the effect of protecting the clockwork spring is achieved.
Further, the device also comprises a limiting device, wherein the limiting device comprises two blocking rods which are arranged in parallel with the axis of the winding device, a gap for passing through the cable is formed between the two blocking rods, and two ends of each blocking rod are provided with wire blocking plates which are matched with the winding device for limiting.
The cable passing through the gap is limited by the limiting device in four directions, so that the cable is prevented from deviating in the winding process and cannot be wound on the winding device in order.
Further, the winding device also comprises a winding seat, the slip ring is arranged on the winding seat, the winding device is rotationally connected to the winding seat around the rotation center of the winding device, and the limiting devices are symmetrically arranged on the front side and the rear side of the winding device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic overall structure of an embodiment of the present invention.
Fig. 2 is a schematic top view of fig. 1.
Fig. 3 is a schematic rear view of the structure of fig. 1.
Fig. 4 is a schematic structural diagram of a winding device according to an embodiment of the invention.
Fig. 5 is a schematic cross-sectional view of fig. 4.
Fig. 6 is an enlarged schematic view of the structure at a in fig. 1.
Fig. 7 to 10 are schematic top views of a wire winding device gradually moving from a working position to a standby position according to an embodiment of the present invention.
Reference numerals:
1. a table top;
2. a straight rail; 21. a track frame; 22. a straight rack;
3. a manipulator trolley; 4. a driving mechanism;
5. a turntable;
6. a winding device;
7. a secondary rack;
8. the wire inlet end is fixed with a bracket; 9. a cable connector;
10. a position sensor;
11. suspending the bracket;
12. a limiting device; 121. a blocking stick; 122. a wire baffle plate;
13. a wire collecting seat;
14. a slip ring; 15. a reel; 16. a roller; 17. an electrical connection point; 18. a bearing sleeve; 19. a bearing; 20. bearing spacer bush; 21. a slip ring cover; 22. a spool cover; 23. a spool support plate; 24. deep groove ball bearings; 25. a reel; 26. a through hole;
27. reinforcing the side plates; 28. a holding roller;
29. a spring assembly;
30. a hook.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of 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.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1, a wire rewinding device for an electric drill floor manipulator provided by an embodiment of the present invention includes: the table top 1, the manipulator trolley 3, the turntable 5 and the rolling device 6 are arranged on the table top 1, two straight rails 2 form a certain included angle, and in the embodiment, the two straight rails 2 form a ninety-degree included angle to divide the table top 1 into a plurality of operation areas.
The straight rail 2 comprises rail frames 21 and straight racks 22, the rail frames 21 are distributed at ninety degrees, and the straight racks 22 arranged on the two rail frames 21 are also distributed at ninety degrees.
The manipulator trolley 3 is slidably connected to the straight rail 2, a driving mechanism 4 for driving the manipulator trolley 3 to reciprocate along the straight rail 2 is mounted on the manipulator trolley 3, and the driving mechanism 4 drives the manipulator trolley 3 to reciprocate on the straight rail 2.
The two sides of the manipulator trolley 3 are additionally provided with the reinforcing side plates 27, the two reinforcing side plates 27 are clamped on the two sides of the track frame 21, the reinforcing side plates 27 are provided with the holding rollers 28, the peripheral surfaces of the holding rollers 28 are contacted with the bottoms of the two sides of the track frame 21, and the manipulator trolley 3 is enabled to travel more stably and safely.
The turntable 5 is rotatably arranged at the joint of the end parts of the straight rails 2 and used for transferring the manipulator trolley 3 between the straight rails 2, the end parts of the two straight rails 2 are oppositely arranged, the turntable 5 is arranged at the joint of the two straight rails 2, the surface of the turntable 5 and the surface of the straight rails 2 are positioned at the same horizontal plane, and the turntable 5 can freely rotate around the rotation center of the turntable 5.
The winding device 6 is arranged in the manipulator trolley 3, a cable is wound on the winding device, the end head of the first end of the cable extends along the length direction of the straight rail 2 and is positioned and connected to the turntable 5, and the second end of the cable is connected to a patch cable of an explosion-proof control box power supply on the manipulator trolley 3 through the winding device 6 and is used for supplying power to the manipulator.
Through the rotatable revolving stage 5 that sets up with straight rail 2 tip junction, can very conveniently be with the dolly of drive connection on straight rail 2 from a straight rail 2 transfer to another straight rail 2 on, and the furling device 6 that sets up in the manipulator dolly 3 can be used for the rolling to accomodate the power cable in the manipulator dolly 3 removal in-process, the end of cable is fixed on revolving stage 5, and the manipulator dolly 3 removes and does not receive the influence, and simultaneously manipulator dolly 3 removes to on the revolving stage 5 after, and the cable is received to shortest, shifts to another straight rail 2 on after, furling device 6 unwinds the cable, has avoided the frequent trouble of dismouting drag chain of change track.
The straight rail 2 opposite to the rotation center of the turntable 5 comprises a rail frame 21 and a straight rack 22 arranged on the rail frame 21 and in driving connection with the manipulator trolley 3, and the turntable 5 is provided with an auxiliary rack 7 which is connected with the rack on the straight rail 2 after rotating.
The manipulator trolley 3 is erected on the track frame 21, and meanwhile, the output end of a driving mechanism 4 inside the manipulator trolley 3 is in driving connection with the straight rack 22, specifically, the driving mechanism 4 can be a driving mechanism 4 such as a servo motor, a gear meshed with the straight rack 22 is installed at the output end of the driving mechanism 4, and the manipulator trolley 3 is driven to reciprocate on the track frame 21 through the driving mechanism 4.
The auxiliary racks 7 are consistent with the straight racks 22 in structure, are arranged on the rotary table 5, can be opposite to each other after the rotary table 5 rotates to a certain angle, form a linear rack track, and facilitate the manipulator trolley 3 to move back and forth on the straight rail 2 and the rotary table 5.
The device is arranged opposite to the rotation center of the rotary table 5, so that after the straight rack 22 on the straight rail 2 rotates by a certain angle on the rotary table 5, the auxiliary rack 7 on the rotary table 5 can correspond to the straight racks 22 on different straight rails 2, the engaged auxiliary rack 7 and the straight rack 22 are in a straight line, the tooth surfaces on the auxiliary rack 7 and the straight rack 22 are positioned on the same surface, and the manipulator trolley 3 connected to the straight rack 22 in a driving mode can smoothly move to the auxiliary rack 7 through the straight rack 22.
The end part of the turntable 5, which is connected with the straight rail 2, is arranged into an arc shape around the rotation center of the turntable 5, and the end part of the straight rail 2, which is opposite to the turntable 5, is arranged into a concave arc shape matched with the arc shape.
The joint of the turntable 5 and the straight rail 2 is set to be an arc and a concave arc which are matched with each other, so that the gap between the turntable 5 and the straight rail 2 is as small as possible when the turntable rotates, and the manipulator trolley 3 can smoothly reciprocate through the auxiliary rack 7 and the straight rack 22 which are mutually connected.
The cable inlet end fixing support 8 is arranged on the turntable 5, the cable connector 9 which is arranged opposite to the winding device 6 is arranged on the cable inlet end fixing support 8, and a plug matched with the cable connector 9 can be arranged at the end of the first end of the cable, so that the cable and the connector on the turntable 5 can be quickly plugged and unplugged.
The cable connector 9 which is arranged opposite to the winding device 6 is connected with the end head of the first end of the cable, so that the cable can be quickly inserted, the end head of the cable is fixed on the turntable 5, and the winding device 6 can play a good positioning role in winding and unwinding.
The bracket is also provided with a position sensor 10 corresponding to the manipulator trolley 3 so as to detect the in-place state of the manipulator trolley 3.
By arranging the position sensor 10, the manipulator trolley 3 is judged to move to the limit position on the turntable 5, and the manipulator trolley 3 starts from the position sensor 10 after being in place, so that the manipulator trolley 3 is controlled to stop moving.
As shown in fig. 6, a hanging bracket 11 is disposed on the manipulator trolley 3 near one side of the turntable 5, and a hook 30 matched with the hanging bracket 11 is disposed at the bottom of the wire inlet end fixing bracket 8, so that the wire inlet end fixing bracket 8 can be retracted when the manipulator is in a standby state.
When the wire inlet end fixing support 8 is installed on the rotary table 5, a groove is formed in the rotary table 5 at a position corresponding to the hook 30 at the bottom of the wire inlet end fixing support 8, and the wire inlet end fixing support 8 is fixedly installed on the rotary table through the groove and the hook which are matched with each other.
The winding device 6 includes: slip ring 14 and winding device.
The electrical connection point 17 of the stator of the slip ring 14 is connected with a power supply of an explosion-proof control box on the manipulator trolley 3.
The winding device is arranged coaxially with the slip ring 14, the cable is wound on the winding device, and the second end of the cable is connected with an electrical connection point 17 of the rotor of the slip ring 14.
Specifically, the winding device includes: a reel 15 and a roller 16.
The drum 16 is rotatably sleeved outside the slip ring 14 and rotates synchronously with the rotor of the slip ring 14, the second end of the cable is wound on the drum 16 and then passes through the side wall of the drum 16 to be connected with an electrical connection point 17 of the rotor of the slip ring 14, and the circumferential surface of the drum 16 is opposite to the turntable 5.
The outside of the slip ring 14 is provided with a bearing sleeve 18, the roller 16 is rotatably connected to the outside of the bearing sleeve 18 through a bearing 19, and a bearing spacer 20 is arranged between the two bearings 19.
After being sleeved on the slip ring 14, the roller 16 is fixedly connected with the rotor of the slip ring 14 through bolts, so that synchronous rotation with the rotor of the slip ring 14 is realized.
The drum 15 and the roller 16 are synchronously rotated, and a spring assembly 29 is arranged in the drum 15 to drive the roller 16 to rotate around the winding direction.
A through hole 26 is formed in the side wall of the roller 16, the second end of the cable passes through the through hole 26 and then is fixedly connected with an electrical connection point 17 of a rotor of the slip ring 14, the rotor of the slip ring 14 and the roller 16 rotate synchronously, in addition, as the roller 15 and the roller 16 are fixedly connected through bolts and the like, and the roller 15 and the roller 16 are coaxially arranged, a spring assembly 29 in the roller 15 can drive the roller 16 to rotate so as to wind the cable on the roller.
The cable is wound on the winding device to play a certain accommodating role, the cable is connected with the power supply on the manipulator trolley 3 by the slip ring 14, the winding device and the rotor of the slip ring 14 synchronously rotate, and the winding device can be electrically connected all the time in the winding and unwinding process.
Wherein, the reel 15 includes a slip ring cover 21 connected with the roller 16, the end surface of the slip ring cover 21 is also covered and connected with a reel cover 22, a space for installing a spring assembly 29 is formed inside, and the rotation center of the reel 15 is positioned by a reel 25.
Wherein the spring assembly 29 comprises: the clutch coil spring and the clockwork spring, the outer lane end of clutch coil spring with the rotation center of reel 15 is connected, and specifically, clutch coil spring cup joints on spool 25, the inner circle end of clutch coil spring with clockwork spring one end is connected, clockwork spring winds the clutch coil spring winding holding in the inner space of reel 15, the other end and the reel 15 of clockwork spring are connected, can provide rotation power for the reel after the reel 15 is rotatory to tighten clockwork spring, realizes the line of receiving.
By utilizing the cooperation of the clutch coil spring and the clockwork spring which are connected with each other, when the clutch coil spring rotates clockwise, the clutch coil spring tightens up and holds the scroll 25, the clockwork spring outputs torque, and the clockwork spring works normally, and at the moment, the clockwork spring drives the roller 16 to rotate for winding; when the clutch coil spring and the fixed shaft are loosened during anticlockwise rotation, the clockwork spring does not have torque output and cannot work, the effect of protecting the clockwork spring is achieved, and the roller 16 is in a paying-off state.
In this embodiment, the device further includes a limiting device 12, the limiting device 12 includes two blocking rods 121 parallel to the axis of the winding device, a gap for passing through the cable is formed between the two blocking rods 121, two ends of the blocking rods 121 are provided with wire blocking plates 122 matched with the winding device to limit, the distance between the two wire blocking plates 122 is equal to the distance between two side walls of the roller 16, the gap formed by the blocking rods 121 is ensured to move in the horizontal direction, the position corresponds to the roller 16, the limiting device 12 limits the cable passing through the gap in four directions, the cable is prevented from deviating in the winding process, and the cable cannot be wound on the winding device in order.
Specifically, the winding device further comprises a winding seat 13, the slip ring 14 is mounted on the winding seat 13, the winding device is rotationally connected to the winding seat 13 around the rotation center of the winding device, and the limiting devices 12 are symmetrically arranged on the winding seat 13 and located on the front side and the rear side of the winding device.
The slip ring 14 and the winding device integrally rotate the winding cable on the winding seat 13, wherein the winding device is rotatably connected with the winding seat 13 through a scroll 25, specifically, a winding drum 15 is rotatably connected with the winding seat 13 through the scroll 25, and a deep groove ball bearing 24 is slidably connected between the scroll 25 and the winding drum 15.
A spool support plate 23 is mounted on the wire takeup seat 13 near one end of the spool 15, and specifically, the spool 15 is connected to the spool support plate 23 through a spool 25.
The cable receiving seat 13 is arranged on one side of the manipulator trolley 3 far away from the turntable 5, two limiting devices 12 symmetrically arranged on the cable receiving seat 13 correspond to the cable connector 9 on the turntable 5, and the cable passes through the limiting devices 12, passes through the manipulator trolley 3, extends along the straight rail 2 and is connected with the cable connector 9 on the turntable 5.
7-10, in the process of transferring the manipulator trolley 3 from the working position to the standby position, as shown in FIG. 7, the manipulator trolley 3 moves towards the turntable 5, and the wire winding device winds up wires; as shown in fig. 8, the robot hand truck 3 reaches the turntable 5, and the turntable 5 starts to rotate; as shown in fig. 9, the turntable 5 stops after rotating 90 degrees in place, and drives the manipulator trolley 3 to align with the straight rail 2 at the waiting position; as shown in fig. 10, the manipulator trolley 3 gradually moves to the standby position on the other straight rail, and the wire collecting device is used for paying off at the moment, so that the wire collecting device can synchronously collect and pay off with the turntable 5 when the manipulator trolley 3 transfers the rail, the problem of inconvenient disassembly and assembly due to large drag chain size is avoided, and the operation and movement efficiency is high.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. A take-up for electrically driven drill floor manipulator, its characterized in that includes: at least two straight rails;
the manipulator trolley is connected to the straight rail in a sliding manner, and a driving mechanism for driving the manipulator trolley to reciprocate along the straight rail is arranged on the manipulator trolley;
the turntable is rotatably arranged at the joint of the end parts of the straight rails and used for transferring the manipulator trolley between the straight rails;
the winding device is arranged in the manipulator trolley, a cable is wound on the winding device, and the end head of the first end of the cable extends along the length direction of the straight rail and is positioned and connected to the turntable;
the turntable is provided with a wire inlet end fixing bracket, and the wire inlet end fixing bracket is provided with a cable connector which is arranged opposite to the winding device;
the manipulator trolley is characterized in that a hanging support is arranged on one side, close to the rotary table, of the manipulator trolley, a hook matched with the hanging support is arranged at the bottom of the wire inlet end fixing support, and the manipulator trolley is used for retracting the wire inlet end fixing support when in a standby state.
2. The wire take-up device for the electric drill floor manipulator according to claim 1, wherein the straight rail arranged opposite to the rotation center of the turntable comprises a rail frame and a straight rack arranged on the rail frame and in driving connection with the manipulator trolley, and the turntable is provided with a secondary rack which is connected with the rack on the straight rail after rotation.
3. The take-up device for an electrically driven drill floor manipulator of claim 1, wherein an end of the turntable that engages the straight rail is disposed in an arc about a center of rotation of the turntable, and an end of the straight rail that is opposite the turntable is disposed in a concave arc that matches the arc.
4. The take-up device for an electrically driven drill floor manipulator of claim 1, wherein the take-up device comprises:
the electrical connection point of the slip ring stator is connected with a power patch cable on the manipulator trolley;
the winding device is coaxially arranged with the slip ring, the cable is wound on the winding device, and the second end of the cable is connected with an electric connection point of the slip ring rotor.
5. The take-up device for an electrically driven drill floor manipulator of claim 4, wherein the spooling device comprises:
the rotary sleeve is rotationally sleeved outside the slip ring and synchronously rotates with the slip ring rotor, the second end of the cable is wound on the rotary sleeve and then passes through the side wall of the rotary sleeve to be connected with an electric connection point of the slip ring rotor, and the peripheral surface of the rotary sleeve is opposite to the rotary table;
the winding drum is synchronously rotated with the roller, and a spring assembly is arranged in the winding drum to drive the roller to rotate around the winding direction.
6. The take-up for an electrically driven drill floor manipulator of claim 5, wherein the spring assembly comprises: the clutch spring comprises a clutch spring and a clockwork spring, wherein the outer ring end of the clutch spring is connected with the rotation center of the winding drum, the inner ring end of the clutch spring is connected with one end of the clockwork spring, and the clockwork spring is wound around the clutch spring and is accommodated in the winding drum.
7. The wire-rewinding device for the electric drill floor manipulator of claim 4, further comprising a limiting device, wherein the limiting device comprises two blocking rods which are arranged in parallel with the axis of the winding device, a gap for passing through the cable is formed between the two blocking rods, and wire blocking plates which are matched and limited with the winding device are arranged at two ends of each blocking rod.
8. The take-up device for an electrically driven drill floor manipulator of claim 7, further comprising a take-up seat, wherein the slip ring is mounted on the take-up seat, the winding device is rotatably connected to the take-up seat around a rotation center thereof, and the limiting devices are symmetrically arranged on front and rear sides of the winding device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605636.3A CN114955750B (en) | 2022-05-30 | 2022-05-30 | Wire winding device for electric drive drill floor manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210605636.3A CN114955750B (en) | 2022-05-30 | 2022-05-30 | Wire winding device for electric drive drill floor manipulator |
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| CN114955750B true CN114955750B (en) | 2024-02-13 |
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| CN114955750A (en) | 2022-08-30 |
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