CN211230302U - Positioning device for assembling and disassembling drill rod manipulator - Google Patents
Positioning device for assembling and disassembling drill rod manipulator Download PDFInfo
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- CN211230302U CN211230302U CN201922080056.3U CN201922080056U CN211230302U CN 211230302 U CN211230302 U CN 211230302U CN 201922080056 U CN201922080056 U CN 201922080056U CN 211230302 U CN211230302 U CN 211230302U
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Abstract
The utility model relates to a positioning device for assembling and disassembling a drill rod manipulator, which belongs to the technical field of mechanical equipment, and comprises a controller and a sensor module connected with the controller; the sensor module comprises a synchronous positioning sensor assembly and a horizontal positioning sensor assembly which are arranged at the tail end of the manipulator, and a tail end positioning sensor assembly arranged on the rack; the synchronous positioning sensor assembly is used for determining that the rotary arm of the manipulator is parallel to the axis of the drill rod holder on the rack; the horizontal positioning sensor assembly is used for determining that the included angle between the rotary arm of the manipulator and the horizontal plane is zero; and the tail end positioning sensor assembly is used for detecting the mounting position of the drill rod to be clamped. The utility model discloses a set up synchronous positioning sensor subassembly and horizontal positioning sensor subassembly at the end of manipulator, set up the terminal positioning sensor subassembly that is used for detecting the mounted position who treats the clamping drilling rod in the frame, solved the complicated problem of positioning system among the prior art.
Description
Technical Field
The utility model belongs to the technical field of mechanical equipment, a positioner for loading and unloading drilling rod manipulator is related to.
Background
The device can realize the drill rod loading and unloading functions at different drilling angles through a multi-joint movement assembly. Due to the changes involved in the coordinates of the tip, different positions of the manipulator need to be located.
Currently, mechanical positioning and visual positioning are used for positioning of a manipulator. The mechanical positioning is to arrange a stop block at the terminal to be positioned, and the stop block is used for braking the movement of the manipulator. The visual positioning is realized by two cameras and corresponding control algorithms.
However, the prior art has the following disadvantages: the mechanical positioning is adopted, because the force borne by the blocking block is large, the blocking block is easy to deform and damage, the normal work of the manipulator is influenced, and the precision of the mode is extremely low; the visual positioning is adopted, the positioning system is complex, the cost is high, and the method is difficult to be suitable for the underground multi-dust working environment of the coal mine.
SUMMERY OF THE UTILITY MODEL
In view of this, an object of the present application is to provide a positioning device for assembling and disassembling a drill rod manipulator, in which a synchronous positioning sensor assembly and a horizontal positioning sensor assembly are disposed at a tail end of the manipulator, and a tail end positioning sensor assembly for detecting a mounting position of a drill rod to be clamped is disposed on a rack, so as to solve a problem that a positioning system in the prior art is complicated.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a positioning device for assembling and disassembling a drill rod manipulator, wherein the manipulator is used for assembling and disassembling a drill rod in a drill rod clamp holder on a rack, the rack is fixedly connected to a rack gyrator, the manipulator comprises a gyration arm and a manipulator gyrator arranged at the tail end of the gyration arm, and the manipulator gyrator and the rack gyrator are respectively arranged on two sides of an installation rack; the positioning device comprises a controller and a sensor module connected with the controller; the sensor module comprises a synchronous positioning sensor assembly arranged on the inner side of the manipulator gyrator, a horizontal positioning sensor assembly arranged on the outer side of the manipulator gyrator and a tail end positioning sensor assembly arranged on the rack; the synchronous positioning sensor assembly is used for determining that a rotary arm of the manipulator is parallel to the axis of the drill rod holder on the rack; the horizontal positioning sensor assembly is used for determining that an included angle between a rotary arm of the manipulator and a horizontal plane is zero; and the tail end positioning sensor assembly is used for detecting the mounting position of the drill rod to be clamped.
Optionally, the robot further comprises a protection positioning sensor assembly arranged at the tail end of the robot, and the protection positioning sensor assembly is used for controlling the rotation angle beta of the revolving arm of the robot in the vertical plane.
Optionally, the positioning sensor assembly comprises a protection positioning sensor and a protection positioning sensor induction block, the protection positioning sensor induction block is fixed on one side, close to the drill rod, of the outer side of the manipulator gyrator, and the protection positioning sensor is fixed on the mounting frame.
Alternatively, β ranges from-90 ° to 90 °.
Optionally, the synchronous positioning sensor assembly, the horizontal positioning sensor assembly, the terminal positioning sensor assembly and the protection positioning sensor assembly are of the same model.
Optionally, a connecting rod penetrating through the manipulator gyrator is fixed on the rack gyrator; the synchronous positioning sensor assembly comprises a synchronous positioning sensor and a synchronous positioning sensor induction block; the synchronous positioning sensor induction block is fixed on the inner side of the manipulator gyrator, and the synchronous positioning sensor is fixed on the connecting rod.
Optionally, the horizontal positioning sensor assembly comprises a horizontal positioning sensor and a horizontal positioning sensor sensing block; the horizontal positioning sensor sensing block is fixed on one side, close to the drill rod, of the outer side of the manipulator gyrator, and the horizontal positioning sensor is fixed on the mounting frame.
Optionally, the end positioning sensor assembly comprises an end positioning sensor and an end positioning sensor sensing block fixed to the frame.
A positioning method for assembling and disassembling a drill rod manipulator realizes that a revolving arm of the manipulator is parallel to the axis of a drill rod holder on a rack through a synchronous positioning sensor assembly arranged at the tail end of the manipulator; the included angle between the rotary arm of the manipulator and the horizontal plane is zero through a horizontal positioning sensor assembly arranged at the tail end of the manipulator; the detection of the installation position of the drill rod to be clamped is realized through the tail end positioning sensor assembly arranged on the rack.
Optionally, the rotation angle range of the revolving arm of the manipulator in the vertical plane is controlled by arranging a protective positioning sensor assembly at the tail end of the manipulator.
The beneficial effects of the utility model reside in that:
1. the utility model discloses a set up synchronous positioning sensor subassembly and horizontal positioning sensor subassembly at the end of gyration arm, set up the terminal positioning sensor subassembly that is used for detecting the mounted position who treats the clamping drilling rod in the frame, realized spacing replacing machinery with the sensor spacing, solved the spacing yielding of machinery, problem that positioning accuracy is low.
2. The utility model discloses a sensor is spacing to replace the vision system spacing, has simplified positioning system, has reduced the device cost.
3. The utility model discloses a set up protection positioning sensor, can avoid the slewing arm to interfere along with other devices on gyrator pivoted in-process and the rig, improved the reliability of device.
4. The utility model discloses a set up the sensor in each motion joint's of manipulator terminal position, realized fixing a position each motion joint's of manipulator terminal position, improved positioning accuracy.
5. The utility model provides a sensor is same model, has improved the interchangeability between the sensor, not only does benefit to the installation and maintains, does benefit to reduce cost moreover.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.
Drawings
For the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a positioning device for assembling and disassembling a drill rod manipulator according to the present invention.
Reference numerals: synchronous positioning sensor 1, synchronous positioning sensor response piece 2, horizontal positioning sensor response piece 3, horizontal positioning sensor 4, protection positioning sensor response piece 5, protection positioning sensor 6, terminal positioning sensor 7, terminal positioning sensor response piece 8, frame 9, mounting bracket 10, manipulator 11, frame gyrator 12, swing motor 13, manipulator gyrator 14, wait to adorn clamping drill pole 15, swing arm 16.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in any way limiting the scope of the invention; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc., indicating directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1, a positioning device for handling a drill rod manipulator, a manipulator 11 is used for handling a drill rod in a drill rod holder on a rack 9, the rack 9 is fixedly connected to a rack gyrator 12, the manipulator 11 comprises a gyration arm 16 and a manipulator gyrator 14 arranged at the tail end of the gyration arm, and the manipulator gyrator 14 and the rack gyrator 11 are respectively arranged at two sides of a mounting rack 10; the positioning device comprises a controller and a sensor module connected with the controller; the sensor module comprises a synchronous positioning sensor assembly arranged on the inner side of the manipulator gyrator 14, a horizontal positioning sensor assembly arranged on the outer side of the manipulator gyrator 14, and a tail end positioning sensor assembly arranged on the rack 9; a synchronous positioning sensor assembly is used to determine that the swivel arm 16 of the robot 11 is parallel to the axis of the drill rod gripper on the gantry 9; the horizontal positioning sensor assembly is used for determining that the included angle between the rotary arm 16 of the manipulator 11 and the horizontal plane is zero; the tail end positioning sensor assembly is used for detecting the installation position of the drill rod 15 to be clamped.
The synchronous positioning sensor assembly comprises a synchronous positioning sensor 1 and a synchronous positioning sensor induction block 2; the synchronous positioning sensor 1 is arranged on a connecting rod positioned on the inner side of the manipulator gyrator, and the connecting rod is fixedly connected with the rack; the synchronous positioning sensor induction block 2 is fixed on the inner side of the manipulator gyrator 14; the horizontal positioning sensor assembly comprises a horizontal positioning sensor 4 and a horizontal positioning sensor induction block 3; the horizontal positioning sensor 4 is arranged on the mounting frame 10, and the horizontal positioning sensor induction block 3 is arranged on one side, close to the drill rod, of the outer side of the manipulator gyrator 14; the tail end positioning sensor assembly comprises a tail end positioning sensor 7 and a tail end positioning sensor induction block 8 which are arranged on a frame 9; the end positioning sensor sensing block 8 is arranged on the axis of the drill rod mounting position.
In order to prevent the rotary arm 16 from interfering with other devices on the drilling machine in the process of rotating along with the gyrator, the utility model discloses set up the protection positioning sensor subassembly at the end of manipulator 11, the positioning sensor subassembly includes protection positioning sensor 6 and protection positioning sensor induction block 5, the protection positioning sensor 6 is fixed on the mounting bracket 10, the protection positioning sensor induction block 5 is fixed on the side of the outside of manipulator gyrator 14 near the drilling rod; the protection positioning sensor assembly is used for controlling a rotation angle beta (beta is an included angle between the rotary arm 16 and the horizontal direction) of the rotary arm 16 of the manipulator 11 in a vertical plane, wherein the range of the beta is-90 degrees, so that the rotation angle of the rotary arm 16 in the vertical plane is prevented from exceeding a safety range, and the reliability of the device is improved.
For the convenience of maintenance, the utility model provides a synchronous positioning sensor subassembly, horizontal location sensor subassembly, terminal positioning sensor subassembly and protection positioning sensor subassembly are same model for can exchange between each sensor, have the characteristics that installation and debugging are convenient, the device is with low costs.
The utility model discloses a positioner's concrete mounted position as follows:
the synchronous positioning sensor 1 is fixedly connected with the rack through a connecting rod, the horizontal positioning sensor 4 and the protection positioning sensor 6 are installed on the installation frame 10, the sensing end of the synchronous positioning sensor 1 points to the manipulator gyrator 14 and is radially outward, and the sensing ends of the horizontal positioning sensor 4 and the protection positioning sensor 6 point to the manipulator gyrator 14 and is radially inward; the synchronous positioning sensor induction block 2 is fixedly arranged on the inner side of a manipulator gyrator 14 of the manipulator 11; the horizontal positioning sensor induction block 3 and the protection positioning sensor induction block 5 are overlapped and arranged on one side, close to the drill rod, of the outer side of a manipulator gyrator 14 of the manipulator 11; the tail end positioning sensor 7 and the tail end positioning sensor induction block 8 are arranged at one end of the frame 9 close to the rear clamp holder.
The utility model discloses a positioner's theory of operation as follows:
in the device of the present invention shown in fig. 1, the manipulator 11 is connected to the mounting frame 10 through the manipulator rotator 14, i.e. the manipulator 11 can rotate around the mounting shaft of the manipulator rotator 14 under the action of the manipulator rotator 14; the frame 9 is mounted on the mounting frame 10 by a frame gyrator 12.
In the drill rod conveying stage, the rack is adjusted to a designed inclination angle position; because the synchronous positioning sensor 1 is fixedly connected with the rack through the connecting rod, the rack is fixed on the rack gyrator, the synchronous positioning sensor sensing block 2 is fixed on the manipulator gyrator, when the synchronous positioning sensor 1 senses the synchronous positioning sensing block 2, the manipulator reaches a designed inclination angle capable of sending a drill rod into the rack, and the manipulator gyrator 14 stops moving; the drill rod to be carried is positioned in the transfer box at A; the angle between the frame 9 and the manipulator 11 can be changed continuously according to the requirements of different drilling inclination angles; the rotary motor 13 drives the rotary arm to turn clockwise (observed from the clamping end of the manipulator 11 to the manipulator gyrator 14), the claw of the manipulator 11 touches the end positioning sensor induction block 8, the turning stops when the end positioning sensor 7 senses the end positioning sensor induction block 8, and at the moment, the drill rod 15 to be clamped is just sent to the clamping position.
During operation, the manipulator 11 moves the drill rod from a position a to a position B, and the operation sequence is as follows: the clamping jaw of the manipulator grasps the drill rod → the inclination angle is adjusted under the action of the gyrator 14 → the gyration is stopped when the synchronous positioning sensor 11 senses the synchronous positioning sensor sensing block 2 → the manipulator 11 overturns in the direction of the rack 9 under the action of the gyrator 13 → the tail end positioning sensor sensing block 8 is touched by the manipulator 11, the overturning is stopped when the tail end positioning sensor 7 senses the tail end positioning sensor sensing block 8 → the drill rod is loosened → the reverse overturning → the manipulator 11 is driven by the gyrator 14 to horizontally and reversely adjust the inclination angle → the inclination angle is stopped when the horizontal positioning sensor 4 senses the horizontal positioning sensor sensing block 3 → the drill rod is continuously grabbed.
A positioning method for a manipulator for loading and unloading a drill rod is characterized in that the rotation arm 16 of the manipulator 11 is parallel to the axis of a drill rod holder on a rack 9 through a synchronous positioning sensor assembly arranged at the tail end of the rotation arm 16 of the manipulator 11; the included angle between the rotary arm 16 of the manipulator 11 and the horizontal plane is zero through a horizontal positioning sensor assembly arranged at the tail end of the rotary arm 16 of the manipulator 11; the detection of the installation position of the drill rod 15 to be clamped is realized through the tail end positioning sensor component on the frame 9.
The utility model discloses the end position of putting through each motion joint at manipulator 11 sets up the sensor, has realized fixing a position 11 each motion joint's of manipulator end position, has improved positioning accuracy.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a positioner for loading and unloading drilling rod manipulator, the manipulator is arranged in the drilling rod loading and unloading of frame drilling rod holder, and frame fixed connection is on the frame gyrator, and the manipulator includes the revolving arm and sets up at its terminal manipulator gyrator, manipulator gyrator and frame gyrator set up respectively in the both sides of mounting bracket, its characterized in that: the positioning device comprises a controller and a sensor module connected with the controller; the sensor module comprises a synchronous positioning sensor assembly arranged on the inner side of the manipulator gyrator, a horizontal positioning sensor assembly arranged on the outer side of the manipulator gyrator and a tail end positioning sensor assembly arranged on the rack; the synchronous positioning sensor assembly is used for determining that a rotary arm of the manipulator is parallel to the axis of the drill rod holder on the rack; the horizontal positioning sensor assembly is used for determining that an included angle between a rotary arm of the manipulator and a horizontal plane is zero; and the tail end positioning sensor assembly is used for detecting the mounting position of the drill rod to be clamped.
2. The positioning device for handling drill pipe manipulators as recited in claim 1, wherein: the manipulator protection positioning device further comprises a protection positioning sensor assembly arranged at the tail end of the manipulator, and the protection positioning sensor assembly is used for controlling the rotation angle beta of the rotary arm of the manipulator in the vertical plane.
3. A positioning device for handling drill pipe manipulators as claimed in claim 2, characterized in that: the positioning sensor assembly comprises a protection positioning sensor and a protection positioning sensor induction block, the protection positioning sensor induction block is fixed on one side, close to the drill rod, of the outer side of the manipulator gyrator, and the protection positioning sensor is fixed on the mounting frame.
4. A positioning device for handling drill pipe manipulators as claimed in claim 2, characterized in that: the range of beta is-90 to 90 degrees.
5. A positioning device for handling drill pipe manipulators as claimed in claim 2, characterized in that: the synchronous positioning sensor assembly, the horizontal positioning sensor assembly, the tail end positioning sensor assembly and the protection positioning sensor assembly are of the same model.
6. The positioning device for handling drill pipe manipulators as recited in claim 1, wherein: a connecting rod penetrating through the manipulator gyrator is fixed on the rack gyrator; the synchronous positioning sensor assembly comprises a synchronous positioning sensor and a synchronous positioning sensor induction block; the synchronous positioning sensor induction block is fixed on the inner side of the manipulator gyrator, and the synchronous positioning sensor is fixed on the connecting rod.
7. The positioning device for handling drill pipe manipulators as recited in claim 1, wherein: the horizontal positioning sensor assembly comprises a horizontal positioning sensor and a horizontal positioning sensor induction block; the horizontal positioning sensor sensing block is fixed on one side, close to the drill rod, of the outer side of the manipulator gyrator, and the horizontal positioning sensor is fixed on the mounting frame.
8. The positioning device for handling drill pipe manipulators as recited in claim 1, wherein: the tail end positioning sensor assembly comprises a tail end positioning sensor and a tail end positioning sensor induction block which are fixed on the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922080056.3U CN211230302U (en) | 2019-11-27 | 2019-11-27 | Positioning device for assembling and disassembling drill rod manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922080056.3U CN211230302U (en) | 2019-11-27 | 2019-11-27 | Positioning device for assembling and disassembling drill rod manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN211230302U true CN211230302U (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922080056.3U Active CN211230302U (en) | 2019-11-27 | 2019-11-27 | Positioning device for assembling and disassembling drill rod manipulator |
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| CN (1) | CN211230302U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113006713A (en) * | 2021-03-26 | 2021-06-22 | 中煤科工集团重庆研究院有限公司 | Double-connecting-rod drill rod picking mechanical arm |
-
2019
- 2019-11-27 CN CN201922080056.3U patent/CN211230302U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113006713A (en) * | 2021-03-26 | 2021-06-22 | 中煤科工集团重庆研究院有限公司 | Double-connecting-rod drill rod picking mechanical arm |
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