CN212837640U

CN212837640U - Chain transmission type overturning horizontal manipulator

Info

Publication number: CN212837640U
Application number: CN202021653901.8U
Authority: CN
Inventors: 张亮; 徐亮; 徐旭; 张光烈
Original assignee: Wuxi Drillto Trenchless Co ltd; Drillto Trenchless Co ltd
Current assignee: Wuxi Drillto Trenchless Co ltd; Drillto Trenchless Co ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2021-03-30
Anticipated expiration: 2030-08-11

Abstract

The utility model relates to a chain transmission type overturning horizontal manipulator, which comprises an overturning arm device, wherein the overturning arm device comprises an overturning arm, a transmission shaft, a clamping oil cylinder and a clamping hand; the device also comprises a driven variable-angle supporting device and a driving overturning driving device; two ends of a transmission shaft of the overturning arm device are respectively movably connected with the driven variable-angle supporting device and the driving overturning driving device; the driven variable-angle supporting device comprises a bearing seat and an angle shaft; the driving overturning driving device comprises an overturning driving oil cylinder, an upper chain wheel, a lower chain wheel, a chain and a chain locking mechanism. The utility model discloses can realize the operation of drilling rod in the automation that variable angle regulation and upset combined together, use angle shaft to support the transmission shaft and along with the upset of transmission shaft variable angle, use chain drive mechanism to realize the variable angle and the upset of transmission shaft, the structure is succinct, can use long-term stable the use in the adverse circumstances of non-excavation operation.

Description

Chain transmission type overturning horizontal manipulator

Technical Field

The utility model relates to a non-excavation rig field, concretely relates to chain drive formula upset horizontal manipulator.

Background

Trenchless drilling typically uses a horizontal pilot drill. The working principle of the horizontal guide drilling machine is as follows: during construction, according to the designed arc drilling track, a drilling machine capable of drilling from the earth surface is adopted to drill a guide hole which is approximately horizontal, then a large-diameter expanding bit and a to-be-laid working pipeline with the diameter smaller than that of the expanding bit are replaced after the guide bit, then reverse expanding is carried out, the to-be-laid pipeline is pulled back into the drill hole, and when all drill rods are pulled back, the pipe laying work is completed at the same time.

In a specific drilling process, a drill frame of the guide drilling machine is obliquely arranged at a small angle relative to the ground, and a power head on the drill frame drives a drill bit to rotate and feed so that the drill bit performs drilling operation. During the feeding process, as the drilling length increases, the drill rods need to be inserted one by one. The drill rod is connected with a power head and a drill bit on the drill frame, and the drill bit enters the ground while drilling for transmitting power. Under the working state of the drill rod, the front part of the drill rod is connected with the rear part of the drill bit and is connected with the power head on the drill frame.

The handling operation of the drill rod is realized by a turnover manipulator on the drilling machine. In the former turning manipulator, the turning shaft is parallel to the drill frame of the drilling machine. Because the drill frame is inclined at a small angle relative to the ground in a working state, the manipulator is also inclined, and the drill rod is also in a low-front and high-rear state in the same process during loading and unloading. Therefore, the drill rod needs to be lifted up and placed on the manipulator in an inclined mode, and the labor intensity of workers is undoubtedly increased.

The existing rotary manipulator can rotate from a posture parallel to a drill frame to a posture parallel to the ground when a drill rod is overturned to be assembled and disassembled, so that the drill rod can be conveniently fed, then the drill rod is clamped to be lifted up and overturned, the drill rod is enabled to be parallel to the drill frame, and finally the drill rod is assembled.

The patent numbers are: 201920487621.5, publication number: CN209742814U, name: the Chinese utility model patent of a novel automatic pendulum angle mechanism of putting has recorded "a novel automatic pendulum angle mechanism of putting", including preceding support, after-poppet, two robotic arm assemblies, axis of rotation and drive arrangement, its characterized in that: the front support and the rear support are fixed on a girder of the drilling machine; the two mechanical arm assemblies are respectively arranged at the front end and the rear end of the rotating shaft; the front support is provided with a fixed pin shaft seat, and the rear support is provided with a lifting device; a tooth-shaped track in the vertical direction is arranged in the lifting device; the front end of the rotating shaft is arranged on the pin shaft seat, the rear end of the rotating shaft is arranged in the lifting device, and the rear end of the rotating shaft is provided with a gear meshed with a toothed rail in the lifting device. However, the pin shaft seat is fixedly arranged, so that the turning of the rotating shaft is not facilitated, the front support is easily stressed too much, the lifting and turning are realized by adopting the gear and rack mechanism, the structure is complex, the requirement of the gear and rack mechanism on the use environment is high, and the gear and rack mechanism is used in the severe environment of trenchless operation and needs to be cleaned and maintained frequently.

SUMMERY OF THE UTILITY MODEL

The utility model aims at: the chain transmission type overturning horizontal manipulator can realize the operation of automatically feeding a drill rod by combining angle-variable adjustment and overturning, simultaneously redesigns the structure, supports a transmission shaft by using an angle shaft and overturns along with the angle change of the transmission shaft, realizes the angle change and overturning of the transmission shaft by using a chain transmission mechanism, has a simple structure, and can be stably used for a long time in the severe environment of trenchless operation.

In order to achieve the above object, the present invention provides the following technical solutions:

a chain transmission type horizontal overturning manipulator comprises an overturning arm device, wherein the overturning arm device comprises an overturning arm, a transmission shaft, a clamping oil cylinder and a clamping hand; the overturning arm is connected with the transmission shaft, the clamping oil cylinder is positioned on the overturning arm, the clamping hand is hinged with the tail end of the overturning arm, and a piston rod of the clamping oil cylinder is hinged with the clamping hand; the device also comprises a driven variable-angle supporting device and a driving overturning driving device; the driven variable-angle supporting device and the driving overturning driving device are both connected with the side face of the drill stand, and two ends of a transmission shaft of the overturning arm device are respectively movably connected with the driven variable-angle supporting device and the driving overturning driving device; the driven variable-angle supporting device comprises a bearing seat and an angle shaft; the driving overturning driving device comprises an overturning driving oil cylinder, an upper chain wheel, a lower chain wheel, a chain and a chain locking mechanism.

Furthermore, the driven variable-angle supporting device also comprises a first supporting seat; the first support seat is detachably connected with the side face of the drill frame, the bearing seat is positioned at the top end of the first support seat, and the angle shaft is movably connected with the bearing seat through a bearing; one end of the transmission shaft is movably connected with the shaft sleeve in the angle shaft.

Furthermore, the active overturning driving device also comprises a second supporting seat, a connecting frame, a sliding plate and a wear-resisting plate; the second supporting seat is detachably connected with the side face of the drill frame; the connecting frame is hinged with the second supporting seat.

Furthermore, the turnover driving oil cylinder is positioned on the connecting frame, the sliding plate is movably arranged on the inner side of the wear-resisting plate on the connecting frame, and the sliding plate is connected with a piston rod of the turnover driving oil cylinder; the upper chain wheel is movably connected with the sliding plate through a pin shaft.

Furthermore, the upper chain wheel is movably connected with the lower chain wheel through a chain, and the lower chain wheel is connected with one end of the transmission shaft, which is far away from the driven variable-angle supporting device; the chain locking mechanism is specifically located on the wear-resisting plate.

Further, the chain locking mechanism comprises a locking block, an upper fixing block, a lower fixing block and a side fixing block; the upper fixing block and the lower fixing block are connected with the wear-resisting plate, the side fixing block is connected with the outer sides of the upper fixing block and the lower fixing block, the locking block is located between the upper fixing block and the lower fixing block, and the upper fixing block, the lower fixing block and the side fixing block are connected with the locking block through adjusting screws; the locking block is fixedly connected with the chain.

The utility model has the advantages that: the utility model provides a chain drive formula upset horizontal manipulator, use through the cooperation of driven variable angle strutting arrangement and initiative upset drive arrangement, can realize the operation of the automatic drilling rod of going up that variable angle regulation and upset combined together, redesign structure simultaneously, use angle shaft to support the transmission shaft and along with the upset of transmission shaft variable angle, be favorable to cooperating the variable angle action of transmission shaft, can make first supporting seat atress even simultaneously, use chain drive mechanism to realize the variable angle and the upset of transmission shaft, the structure is succinct, and the production cost is reduced, and chain drive mechanism is all lower to service environment and lubricated requirement, can use in the abominable environment of non-excavation operation steadily for a long time.

Drawings

Fig. 1 is the structural schematic diagram of the chain transmission type turnover horizontal manipulator low-position clamping drill rod and the drill rod parallel to the ground.

Fig. 2 is a schematic front view of the structure shown in fig. 1.

Fig. 3 is the structural schematic diagram of the chain transmission type turnover horizontal manipulator high-position clamping drill rod and the drill rod parallel to the drill frame.

Fig. 4 is a schematic front view of the structure shown in fig. 3.

Fig. 5 is a schematic view of the driven variable angle supporting device of the chain transmission type turnover horizontal manipulator of the present invention.

Fig. 6 is a schematic view of an active turning driving device of a chain transmission type turning horizontal manipulator according to the present invention.

Fig. 7 is a partial structural schematic view of the structure shown in fig. 6.

Fig. 8 is a schematic view of a part of the structure of the turning arm device of the chain transmission type turning horizontal manipulator of the present invention.

In the figure: 1. a drilling frame; 2. a drilling machine crawler belt; 3. a driven variable angle support device; 31. a first support base; 32. a bearing seat; 33. an angle axis; 34. a shaft sleeve; 4. an active roll-over drive; 41. a second support seat; 42. a connecting frame; 43. turning over the driving oil cylinder; 44. a sliding plate; 45. an upper sprocket; 46. a lower sprocket; 47. a chain; 48. a chain locking mechanism; 481. a locking block; 482. an upper fixed block; 483. a lower fixed block; 484. a side fixing block; 485. adjusting screws; 49. a wear plate; 5. a turning arm device; 51. turning over the arm; 52. a drive shaft; 53. clamping the oil cylinder; 54. clamping a hand; 6. and (5) drilling a rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 1 to 8, a chain-driven turnover horizontal manipulator includes a turnover arm device 5, where the turnover arm device 5 includes a turnover arm 51, a transmission shaft 52, a clamping cylinder 53, and a clamping hand 54; the overturning arm 51 is connected with the transmission shaft 52, the clamping oil cylinder 53 is positioned on the overturning arm 51, the clamping hand 54 is hinged with the tail end of the overturning arm 51, a piston rod of the clamping oil cylinder 53 is hinged with the clamping hand 54, and the clamping oil cylinder 53 is used for driving the clamping hand 54 to clamp or loosen the drill rod 6; the device also comprises a driven variable-angle supporting device 3 and a driving overturning driving device 4; the driven variable-angle supporting device 3 and the driving overturning driving device 4 are both connected with the side surface of the drill rig 1, and two ends of a transmission shaft of the overturning arm device 5 are respectively movably connected with the driven variable-angle supporting device 3 and the driving overturning driving device 4; the driven variable angle supporting device 3 comprises a bearing seat 32 and an angle shaft 33; the driving turnover driving device 4 comprises a turnover driving oil cylinder 43, an upper chain wheel 45, a lower chain wheel 46, a chain 47 and a chain locking mechanism 48, wherein the chain locking mechanism 48 is used for locking a certain chain link of the chain 47.

The driven variable-angle supporting device 3 and the driving overturning driving device 4 correspond to the upper and lower positions of a drilling machine crawler belt 2 on the side surface of the drill frame 1.

The driven variable angle supporting device 3 further comprises a first supporting seat 31; the first supporting seat 31 is detachably connected with the side surface of the drill frame 1, the bearing seat 32 is positioned at the top end of the first supporting seat 31, and the angle shaft 33 is movably connected with the bearing seat 32 through a bearing; one end of the transmission shaft 52 is movably connected with the shaft sleeve 34 in the angle shaft 33, when the transmission shaft 52 is adjusted in an angle, the angle shaft 33 and the transmission shaft 52 can be turned for a specific angle relative to the horizontal plane, finally the transmission shaft 52 is parallel to the drill frame, in the process, the transmission shaft 52 and the shaft sleeve 34 are in relative displacement, and the shaft sleeve 34 can reduce friction.

The active turnover driving device 4 further comprises a second supporting seat 41, a connecting frame 42, a sliding plate 44 and a wear-resisting plate 49; the second support seat 41 is detachably connected with the side surface of the drill frame 1; the connecting frame 42 is hinged to the second supporting seat 41, and the connecting frame 42 and the second supporting seat 41 can be relatively turned.

The overturning driving cylinder 43 is positioned on the connecting frame 42, the sliding plate 44 is movably arranged inside a wear plate 49 on the connecting frame 42, the wear plate 49 is used for limiting the sliding track of the sliding plate 44, the sliding plate 44 is connected with a piston rod of the overturning driving cylinder 43, and the overturning driving cylinder 43 is used for driving the sliding plate 44 to slide back and forth along the inside of the wear plate 49; the upper chain wheel 45 is movably connected with the sliding plate 44 through a pin shaft, and the upper chain wheel 45 moves along with the sliding plate 44.

The upper chain wheel 45 is movably connected with the lower chain wheel 46 through a chain 47, the chain 47 is used for transmission, so that the lower chain wheel 46 and the transmission shaft 52 rotate together, and the lower chain wheel 46 is connected with one end of the transmission shaft 52 far away from the driven variable-angle supporting device 3; the chain locking mechanism 48 is located specifically on wear plate 49.

The chain locking mechanism 48 comprises a locking block 481, an upper fixing block 482, a lower fixing block 483 and a side fixing block 484; the upper fixing block 482 and the lower fixing block 483 are both connected with a wear-resisting plate 49, the side fixing block 484 is connected with the outer sides of the upper fixing block 482 and the lower fixing block 483, the lock block 481 is positioned between the upper fixing block 482 and the lower fixing block 483, the upper fixing block 482, the lower fixing block 483 and the side fixing block 484 are all connected with the lock block 481 through adjusting screws 485, and the adjusting screws 485 are used for jacking and positioning the specific positions of the lock block 481; the locking piece 481 is fixedly connected with the chain 47 and used for locking a certain chain link on the chain 47, so that when the upper chain wheel 45 is pushed to move upwards, the operation of the chain 47 is realized, and the upper chain wheel 45 and the lower chain wheel 46 rotate.

The utility model discloses a theory of operation does: when the drill rod 6 needs to be loaded, the overturning arm device 5 is in a low position, the transmission shaft 52 is parallel to the ground, the drill rod 6 can be horizontally placed into the overturning arm device 5, and the clamping oil cylinder 53 drives the clamping hand 54 to overturn so as to clamp the drill rod 6; then the piston rod of the turnover driving oil cylinder 43 of the driving turnover driving device 4 is ejected upwards, the sliding plate 44 is driven to slide upwards relative to the connecting frame 42, so that the upper chain wheel 45 drives the lower chain wheel 46 to move upwards and turn over through the chain 47, and the transmission shaft 52 moves upwards synchronously with the lower chain wheel 46 to realize angle change and synchronous turnover; in the process, the connecting frame 42 is turned over at a small angle relative to the second supporting seat 41, the angle shaft 33 of the driven variable-angle supporting device 3 is turned over at a small angle relative to the bearing seat 32, the transmission shaft 52 is axially displaced in the shaft sleeve 34, turning and variable-angle adjustment of the turning arm device 5 are finally achieved, when the turning arm device 5 is located at a high position, the transmission shaft 52 is parallel to the drill frame, the drill rod 6 is guaranteed to be parallel to the drill frame, the clamping cylinder 53 drives the clamping hand 54 to loosen the drill rod 6, and operation of feeding the drill rod 6 is smoothly achieved.

The above examples are provided for further illustration of the present invention, but do not limit the present invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be understood as being within the protection scope of the present invention.

Claims

1. A chain transmission type overturning horizontal manipulator comprises an overturning arm device (5), wherein the overturning arm device (5) comprises an overturning arm (51), a transmission shaft (52), a clamping oil cylinder (53) and a clamping hand (54); the overturning arm (51) is connected with the transmission shaft (52), the clamping oil cylinder (53) is positioned on the overturning arm (51), the clamping hand (54) is hinged with the tail end of the overturning arm (51), and a piston rod of the clamping oil cylinder (53) is hinged with the clamping hand (54); the method is characterized in that: the device also comprises a driven variable-angle supporting device (3) and a driving overturning driving device (4); the driven variable-angle supporting device (3) and the driving overturning driving device (4) are both connected with the side surface of the drill stand (1), and two ends of a transmission shaft of the overturning arm device (5) are respectively movably connected with the driven variable-angle supporting device (3) and the driving overturning driving device (4); the driven variable-angle supporting device (3) comprises a bearing seat (32) and an angle shaft (33); the driving overturning driving device (4) comprises an overturning driving oil cylinder (43), an upper chain wheel (45), a lower chain wheel (46), a chain (47) and a chain locking mechanism (48).

2. The chain-driven turnover horizontal manipulator as claimed in claim 1, wherein: the driven variable-angle supporting device (3) further comprises a first supporting seat (31); the first supporting seat (31) is detachably connected with the side face of the drilling frame (1), the bearing seat (32) is positioned at the top end of the first supporting seat (31), and the angle shaft (33) is movably connected with the bearing seat (32) through a bearing; one end of the transmission shaft (52) is movably connected with a shaft sleeve (34) in the angle shaft (33).

3. The chain-driven turnover horizontal manipulator as claimed in claim 2, wherein: the active overturning driving device (4) further comprises a second supporting seat (41), a connecting frame (42), a sliding plate (44) and a wear-resisting plate (49); the second supporting seat (41) is detachably connected with the side surface of the drilling frame (1); the connecting frame (42) is hinged with the second supporting seat (41).

4. A chain-driven turnover horizontal robot as claimed in claim 3, wherein: the overturning driving oil cylinder (43) is positioned on the connecting frame (42), the sliding plate (44) is movably arranged on the inner side of a wear-resisting plate (49) on the connecting frame (42), and the sliding plate (44) is connected with a piston rod of the overturning driving oil cylinder (43); the upper chain wheel (45) is movably connected with the sliding plate (44) through a pin shaft.

5. The chain-driven turnover horizontal manipulator as claimed in claim 4, wherein: the upper chain wheel (45) is movably connected with the lower chain wheel (46) through a chain (47), and the lower chain wheel (46) is connected with one end, far away from the driven variable-angle supporting device (3), of the transmission shaft (52); the chain locking mechanism (48) is located on a wear plate (49).

6. The chain-driven turnover horizontal manipulator as claimed in claim 5, wherein: the chain locking mechanism (48) comprises a locking block (481), an upper fixing block (482), a lower fixing block (483) and a side fixing block (484); the upper fixing block (482) and the lower fixing block (483) are connected with a wear-resisting plate (49), the side fixing block (484) is connected with the outer sides of the upper fixing block (482) and the lower fixing block (483), the locking block (481) is located between the upper fixing block (482) and the lower fixing block (483), and the upper fixing block (482), the lower fixing block (483) and the side fixing block (484) are connected with the locking block (481) through adjusting screws (485); the locking block (481) is fixedly connected with the chain (47).