CN206360666U - A kind of borer drill rod manipulator - Google Patents
A kind of borer drill rod manipulator Download PDFInfo
- Publication number
- CN206360666U CN206360666U CN201621259823.7U CN201621259823U CN206360666U CN 206360666 U CN206360666 U CN 206360666U CN 201621259823 U CN201621259823 U CN 201621259823U CN 206360666 U CN206360666 U CN 206360666U
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- CN
- China
- Prior art keywords
- pivoting support
- hinged
- telescoping cylinder
- support
- drill rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of borer drill rod manipulator, it is characterised in that:Including robot carriage (1), pivoting support (2), stationary jaw (3), movable jaw (4), revolution telescoping cylinder (5) and clamping telescoping cylinder (6)；The pivoting support (2) is installed in rotation on the robot carriage (1), and revolution telescoping cylinder (5) base end is hinged with the robot carriage (1) and its flexible output end is hinged with the pivoting support (2)；The stationary jaw (3) is packed on the pivoting support (2), and the movable jaw (4) is installed in rotation on the pivoting support (2) and is correspondingly arranged with the stationary jaw (3)；Clamping telescoping cylinder (6) base end is hinged with the pivoting support (2) and its flexible output end is hinged with movable jaw (4) the power arm end.The utility model can realize that automatic drilling rod is picked and placeed and transfer function with drilling rod, it is possible to decrease labor intensity and raising operating efficiency.
Description
Technical field
The utility model is related to a kind of drilling rig technique field, more particularly to a kind of borer drill rod manipulator.
Background technology
Rig is in work progress, and to reach that the requirement of Drilling deep hole changes drilling rod, it is necessary to unload repeatedly, and the process is very
Numerous and diverse, some even also carry out changing bar using manpower, and labor intensity is big, and working environment is dangerous.A general drilling rod has more than 100
Kilogram, whole drill pipe storage is up to seven or eight hundred kilograms.Carry out changing bar using manpower, inefficiency, and because drilling rod is easily slided,
Center of gravity easily deviates, and work progress is very dangerous.
In addition, rig needs to change drilling rod at work, when changing lever apparatus and carrying out changing bar, in order to ensure that manipulator can be accurate
Drilling rod is really caught, the Zhua Gan centers of manipulator are had to enter on the circle of center composition of drilling rod in storage drilling rod rotating disk, and machine
Tool hand be in this position when, rotating disk shield must leaving certain gaps uncovered by the economic plan, so as to catch drilling rod manipulator can enter rotating disk or from turn
Sent out in disk.Because traditional lever apparatus that changes does not have guard bar mechanism, when taking bar, manipulator puts in the breach of rotating disk shield, is turning
When drilling rod not to be sent to disk the Zhua Gan centers of manipulator, tongs opens, it has not been possible to implement action promptly,
During this time, drilling rod is easy to fall out from rotating disk shield breach because of machine vibration, or even the generation that causes the accident, and exists
Potential safety hazard.
Utility model content
In order to solve above-mentioned one or more defect of the prior art, the utility model provides a kind of borer drill rod machine
Tool hand, can realize that automatic drilling rod is picked and placeed and transfer function with drilling rod, it is possible to decrease labor intensity and raising operating efficiency.
To achieve the above object, the utility model provides a kind of borer drill rod manipulator, it is characterised in that:Including machinery
Hand bearing (1), pivoting support (2), stationary jaw (3), movable jaw (4), revolution telescoping cylinder (5) and clamping telescoping cylinder (6)；Institute
State pivoting support (2) to be installed in rotation on the robot carriage (1), revolution telescoping cylinder (5) base end and the manipulator
Bearing (1) is hinged and its flexible output end is hinged with the pivoting support (2) and for driving the pivoting support (2) to rotate；
The stationary jaw (3) is packed on the pivoting support (2), and the movable jaw (4) is installed in rotation on the pivoting support (2)
And be correspondingly arranged with the stationary jaw (3)；Clamping telescoping cylinder (6) base end is hinged with the pivoting support (2) and it is flexible defeated
Go out end to be hinged with movable jaw (4) the power arm end.
Preferably, the robot carriage (1) includes seat board (11) and a pair of the support plates (12) be arrangeding in parallel up and down, the seat
Mounting hole (111) is offered on plate (11), the side of support plate (12) one and the seat board (11) are affixed, be provided with the middle part of the support plate (12)
The first hinge hole (121) being hinged with the pivoting support (2), support plate (12) another side is provided with and the revolution telescoping cylinder (5)
The second hinge hole (122) that base end is hinged.
Further, it is installed with reinforcing plate (13) between this pair of support plate (12).
Further, it is also equipped with chuck (41) on the inside of the clamping section of the stationary jaw (3) and movable jaw (4).
Preferably, the pivoting support (2) includes free bearing (21) and support frame (22), free bearing (21) one end and the revolution
The first hinge hole (121) is hinged on bearing (2) and its other end and support frame (22) first end are affixed, the stationary jaw (3)
It is installed in movable jaw (4) on the end of support frame (22) second.
Further, the first end of the support frame (22) is provided with and is hinged with clamping telescoping cylinder (6) base end
3rd hinge hole (221) and its second end are provided with stretches the 4th hinge hole that output end is hinged with the revolution telescoping cylinder (5)
(222)。
Further, in addition to for detecting the testing agency (7) of pivoting support (2) angle position.
Preferably, the testing agency (7) includes fixed plate (71), slide bar (72), restraining plate (73) and sensor
(74), the fixed plate (71) is packed on the robot carriage (1), and the restraining plate (73) is packed on the pivoting support (2)
And offer constrained port (731) on the restraining plate (73)；Slide bar (72) one end is hinged and its other end with the fixed plate (71)
Pass the constrained port (731) afterwards and stretch out, the sensor (74) is arranged in the fixed plate (71) and for sensing this
The position of slide bar (72).
Preferably, the clamping telescoping cylinder (6) and the revolution telescoping cylinder (5) use hydraulic-driven.
The beneficial effects of the utility model are：First, by the revolution telescoping cylinder stretching motion, the pivoting support can be driven
Central rotation is hinged along it on the robot carriage, for the angle position for controlling it to capture or place, to realize reset
Or position switching control during drilling rod transport；Second, by the clamping telescoping cylinder stretching motion, the movable jaw can be driven and solid
A pair of clamping sections of clamp pawl mutually clamp or unclamped, and are controlled with realizing the clamping to drilling rod or unclamping；3rd, the revolution is stretched
The motion state of cylinder and the clamping telescoping cylinder, it is separate, it can move alone and also be synchronized with the movement, will to meet different conditions
Ask, accordingly controlled；4th, chuck is also equipped with the inside of the clamping section of stationary jaw and movable jaw, is passed through and is changed different
The chuck of model, the problem of single drilling rod can only be clamped with solution；5th, this manipulator cleft hand can detect by testing agency
Working condition, be easy to action control；6th, the slide bar other end is passed after the constrained port and stretched out, slide bar extension
Portion can be additionally used in side block drilling rod, to avoid it from falling out from rotating disk shield breach because of machine vibration, it is to avoid potential safety hazard.
Brief description of the drawings
Fig. 1 is front view of the present utility model.
Fig. 2 is A-A direction views in Fig. 1.
Fig. 3 is the stereogram on front side of the utility model.
Fig. 4 is the stereogram of the utility model dorsal part.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples：
Referring to Fig. 1-4, a kind of borer drill rod manipulator, including robot carriage 1, pivoting support 2, stationary jaw 3, activity
Clamping jaw 4, revolution telescoping cylinder 5 and clamping telescoping cylinder 6；The pivoting support 2 is installed in rotation on the robot carriage 1, should
The revolution base end of telescoping cylinder 5 is hinged with the robot carriage 1 and its flexible output end is hinged with the pivoting support 2 and for driving
The pivoting support 2 rotates；The stationary jaw 3 is packed on the pivoting support 2, and the movable jaw 4 is installed in rotation on
It is correspondingly arranged on the pivoting support 2 and with the stationary jaw 3；The base end of clamping telescoping cylinder 6 is hinged and it with the pivoting support 2
Flexible output end is hinged with the power arm end of movable jaw 4.
When in use, first, by the stretching motion of revolution telescoping cylinder 5, the pivoting support 2 can be driven in the manipulator
Central rotation is hinged along it on bearing 1, for the angle position for controlling it to capture or place, during realizing reset or drilling rod transport
Position switching control；Second, by the stretching motion of clamping telescoping cylinder 6, the movable jaw 4 and stationary jaw 3 can be driven
A pair of clamping sections mutually clamp or unclamped, and are controlled with realizing the clamping to drilling rod or unclamping；3rd, the revolution telescoping cylinder 5 and should
The motion state of telescoping cylinder 6 is clamped, it is separate, it can move alone and also be synchronized with the movement, to meet different conditions requirement, carry out
Corresponding control.
Referring to Fig. 3, the robot carriage 1 is included on seat board 11 and a pair of the support plates 12 be arrangeding in parallel up and down, the seat board 11
Mounting hole 111 is offered, is easy to robot carriage 1 that fixation is installed；The side of support plate 12 1 and the seat board 11 are affixed, the seat board 11
It can use and be welded and fixed between a pair of support plates 12.Further, reinforcing plate 13 is installed between this pair of support plate 12, strengthens it
Reliably, deformation is reduced.The middle part of support plate 12 is provided with the first hinge hole 121 being hinged with the pivoting support 2, the opposite side of support plate 12
End is provided with the second hinge hole 122 being hinged with the base end of revolution telescoping cylinder 5.
Referring to Fig. 3, chuck 41 is also equipped with the inside of the clamping section of the stationary jaw 3 and movable jaw 4.The chuck 41 can
Changed according to different drilling rod models, the problem of single drilling rod can only be clamped with solution.The inwall of chuck 41 is rough surface or set
There is shaggy tooth, to improve coefficient of friction.The other chuck 41 uses high-abrasive material, to improve service life.
Referring to Fig. 3, specifically, the pivoting support 2 includes free bearing 21 and support frame 22, and the free bearing 21 and support frame 22 are welded
It is integrated, the one end of free bearing 21 is hinged and its other end and the support frame 22 first with the first hinge hole 121 on the pivoting support 2
End is affixed, and the stationary jaw 3 and movable jaw 4 are installed on the end of support frame 22 second and away from the robot carriage 1 one
Side is distributed.
Referring to Fig. 2, specifically, the first end of the support frame 22 is provided with to be hinged with the base end of clamping telescoping cylinder 6
The 3rd hinge hole 221 and its second end be provided with and stretched the 4th hinge hole 222 that output end is hinged with the revolution telescoping cylinder 5.
Referring to Fig. 2, specifically, in addition to for detecting the testing agency 7 of the angle position of pivoting support 2.The detection
Mechanism 7 includes fixed plate 71, and slide bar 72, restraining plate 73 and sensor 74, the fixed plate 71 are packed on the robot carriage 1,
The restraining plate 73 is packed on the pivoting support 2 and offers constrained port 731 on the restraining plate 73；The one end of slide bar 72 is with being somebody's turn to do
Fixed plate 71 is hinged and its other end is passed after the constrained port 731 and stretched out, and the sensor 74 is arranged on the fixed plate
On 71 and for sensing the position of the slide bar 72.Multiple sensors 74 can be installed in the fixed plate 71, in order to difference
The sensing of position, to detect and control cleft hand diverse location and working condition.
In addition, referring to Fig. 3, the other end of slide bar 72 passes after the constrained port 731 and stretches out and pressed from both sides positioned at the activity
The outside of pawl 4 and it is arranged close to, available for side block drilling rod, to avoid it from falling out from rotating disk shield breach because of machine vibration,
Avoid potential safety hazard.
Preferably, the clamping telescoping cylinder 6 and the revolution telescoping cylinder 5 use hydraulic-driven.Because rig is typically used
Hydraulic power supply, is easy to loop to be uniformly controlled.
Preferred embodiment of the present utility model described in detail above.It should be appreciated that the ordinary skill people of this area
Member just can make many modifications and variations without creative work according to design of the present utility model.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality on the basis of existing technology according to design of the present utility model in domain
Available technical scheme is tested, all should be in the protection domain being defined in the patent claims.
Claims (9)
1. a kind of borer drill rod manipulator, it is characterised in that:Including robot carriage (1), pivoting support (2), stationary jaw
(3), movable jaw (4), revolution telescoping cylinder (5) and clamping telescoping cylinder (6)；The pivoting support (2) is installed in rotation on this
On robot carriage (1), revolution telescoping cylinder (5) base end is hinged with the robot carriage (1) and its flexible output end is with being somebody's turn to do
Pivoting support (2) is hinged and for driving pivoting support (2) rotation；The stationary jaw (3) is packed in the pivoting support
(2) on, the movable jaw (4) is installed in rotation on the pivoting support (2) and is correspondingly arranged with the stationary jaw (3)；Should
Telescoping cylinder (6) base end is clamped to be hinged with the pivoting support (2) and its flexible output end and movable jaw (4) power arm end hinge
Connect.
2. a kind of borer drill rod manipulator as claimed in claim 1, it is characterised in that：The robot carriage (1) includes seat board
(11) mounting hole (111) is offered on a pair of the support plates (12) and up and down be arrangeding in parallel, the seat board (11), support plate (12) side
End is affixed with the seat board (11), provided with the first hinge hole (121) being hinged with the pivoting support (2) in the middle part of the support plate (12), should
Support plate (12) another side is provided with the second hinge hole (122) being hinged with revolution telescoping cylinder (5) base end.
3. a kind of borer drill rod manipulator as claimed in claim 2, it is characterised in that：It is installed with and adds between this pair of support plate (12)
Strong plate (13).
4. a kind of borer drill rod manipulator as claimed in claim 1, it is characterised in that：The stationary jaw (3) and activity folder
Chuck (41) is also equipped with the inside of the clamping section of pawl (4).
5. a kind of borer drill rod manipulator as any one of claim 1-4, it is characterised in that：The pivoting support (2)
Including free bearing (21) and support frame (22), on free bearing (21) one end and the pivoting support (2) the first hinge hole (121) be hinged and
Its other end and support frame (22) first end are affixed, and the stationary jaw (3) and movable jaw (4) are installed in the support frame
On (22) second ends.
6. a kind of borer drill rod manipulator as claimed in claim 5, it is characterised in that：The first end of the support frame (22)
It is provided with and is stretched with the revolution provided with the 3rd hinge hole (221) and its second end being hinged with clamping telescoping cylinder (6) base end
The 4th hinge hole (222) that the flexible output end of contracting cylinder (5) is hinged.
7. a kind of borer drill rod manipulator as any one of claim 1-4, it is characterised in that：Also include being used to detect
The testing agency (7) of pivoting support (2) angle position.
8. a kind of borer drill rod manipulator as claimed in claim 7, it is characterised in that：The testing agency (7) includes fixing
Plate (71), slide bar (72), restraining plate (73) and sensor (74), fixed plate (71) is packed on the robot carriage (1), institute
Restraining plate (73) is stated to be packed on the pivoting support (2) and offer constrained port (731) on the restraining plate (73)；The slide bar (72)
One end is hinged with the fixed plate (71) and its other end passes the constrained port (731) afterwards and stretched out, the sensor (74)
Position in the fixed plate (71) and for sensing the slide bar (72).
9. a kind of borer drill rod manipulator as claimed in claim 1, it is characterised in that：The clamping telescoping cylinder (6) and the revolution
Telescoping cylinder (5) uses hydraulic-driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621259823.7U CN206360666U (en) | 2016-11-21 | 2016-11-21 | A kind of borer drill rod manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621259823.7U CN206360666U (en) | 2016-11-21 | 2016-11-21 | A kind of borer drill rod manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206360666U true CN206360666U (en) | 2017-07-28 |
Family
ID=59372676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621259823.7U Expired - Fee Related CN206360666U (en) | 2016-11-21 | 2016-11-21 | A kind of borer drill rod manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206360666U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086870A (en) * | 2019-12-20 | 2020-05-01 | 吕俊杰 | Rigid pipe fitting clamping and feeding device adaptable to different pipeline shapes |
| CN112922541A (en) * | 2021-01-28 | 2021-06-08 | 任惠林 | Drill rod replacing mechanism for drill rod equipment |
| CN113669092A (en) * | 2021-08-27 | 2021-11-19 | 中国煤炭科工集团太原研究院有限公司 | Anchor rod storage conveying limiting gripping device |
| CN113982507A (en) * | 2021-09-30 | 2022-01-28 | 张家口市宣化金科钻孔机械有限公司 | Drilling rod snatchs mechanism |
-
2016
- 2016-11-21 CN CN201621259823.7U patent/CN206360666U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086870A (en) * | 2019-12-20 | 2020-05-01 | 吕俊杰 | Rigid pipe fitting clamping and feeding device adaptable to different pipeline shapes |
| CN112922541A (en) * | 2021-01-28 | 2021-06-08 | 任惠林 | Drill rod replacing mechanism for drill rod equipment |
| CN112922541B (en) * | 2021-01-28 | 2022-07-22 | 佛山市云昇金属科技有限公司 | Drill rod replacing mechanism for drill rod equipment |
| CN113669092A (en) * | 2021-08-27 | 2021-11-19 | 中国煤炭科工集团太原研究院有限公司 | Anchor rod storage conveying limiting gripping device |
| CN113669092B (en) * | 2021-08-27 | 2024-05-07 | 中国煤炭科工集团太原研究院有限公司 | Limit grabbing device is carried in stock storage |
| CN113982507A (en) * | 2021-09-30 | 2022-01-28 | 张家口市宣化金科钻孔机械有限公司 | Drilling rod snatchs mechanism |
| CN113982507B (en) * | 2021-09-30 | 2023-09-19 | 张家口市宣化金科钻孔机械有限公司 | Drill rod grabbing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170728 Termination date: 20171121 |