CN214836188U

CN214836188U - Automatic drill feeding manipulator with middle-arranged additional rod

Info

Publication number: CN214836188U
Application number: CN202121097753.0U
Authority: CN
Inventors: 武国胜; 徐云辉; 胡耀利; 朱福林
Original assignee: Tiefulai Equipment Manufacturing Group Co ltd
Current assignee: Tiefulai Equipment Manufacturing Group Co ltd
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2021-11-23
Anticipated expiration: 2031-05-19

Abstract

The utility model relates to an in put automatic manipulator that send to bore of pole that adds, manipulator include roll-over stand, mount and hand claw, and the roll-over stand articulates on the mount, and the hand claw articulates on the roll-over stand, and it has the upset pneumatic cylinder to articulate between roll-over stand and the mount, and the upset of roll-over stand can be driven to the upset pneumatic cylinder, and it has the centre gripping pneumatic cylinder to articulate between roll-over stand and the hand claw, and the centre gripping pneumatic cylinder can drive the hand claw and paste tightly or keep away from the roll-over stand. The utility model discloses a manipulator can replace the manual work to carry out the work of snatching of drilling rod in the middle-placed adds the pole process, reduces manual operation frequency, reduces function workman intensity of labour, has improved the operating efficiency.

Description

Automatic drill feeding manipulator with middle-arranged additional rod

Technical Field

The utility model relates to a probing technical field, concretely relates to put automatic mechanical hand that send of pole that adds in.

Background

The hydraulic drilling rig is often needed to be used when drilling operation is carried out in a coal mine underground, the hydraulic drilling rig can be divided into upward drilling according to the difference of drilling rig angles during operation, horizontal drilling and downward drilling, most of the existing hydraulic drilling rigs can realize drilling in three different directions and have the function of adjusting the azimuth angle, but the existing hydraulic drilling rig needs to be manually and frequently disassembled to ventilate a water connector when the drilling rod is installed, the drilling rod is manually installed, along with the increase of the drilling depth, the number of times of carrying the drilling rod during single-hole drilling is continuously increased, the labor intensity of workers is high, and the field operation efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an in put automatic drill feeding manipulator of putting with pole, it leads to workman intensity of labour big to solve artifical installation drilling rod, problem that the installation effectiveness is low.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

put and add automatic manipulator that bores of pole, including roll-over stand, mount and hand claw, the roll-over stand articulates on the mount, the hand claw articulates on the roll-over stand, the roll-over stand with it has the upset pneumatic cylinder to articulate between the mount, the upset pneumatic cylinder can drive the roll-over stand upset, the roll-over stand with it has the centre gripping pneumatic cylinder to articulate between the hand claw, the centre gripping pneumatic cylinder can drive the hand claw pastes tightly or keeps away from the roll-over stand.

Furthermore, a slip is fixed at the upper end of the turnover frame, and the paw is close to or far away from the slip and used for clamping or releasing the drill rod.

Furthermore, a drill rod supporting frame is arranged on the side edge of the turnover frame.

Furthermore, a drill rod positioning device is arranged on the drill rod supporting frame.

Furthermore, the number of the drill rod support frames is two, the two drill rod support frames are marked as a first drill rod support frame and a second drill rod support frame and are respectively arranged on two sides of the paw and used for supporting two ends of a drill rod, a first drill rod positioning device is arranged on the first drill rod support frame, and a second drill rod positioning device is arranged on the second drill rod support frame.

Further, the first drill rod positioning device comprises a first shell and a first ejection column, the first ejection column is elastically assembled in the first shell and can move a certain distance in the first shell, a frustum is arranged at the end of the first ejection column and used for ejecting the drill rod.

Further, be equipped with the spring in the first casing, be equipped with the location step on the first fore-set, first fore-set both ends all bulge first casing, first fore-set is kept away from the one end card of frustum is equipped with the spacer pin, and spring one end card is established on the location step, and the other end card is established be close to spacer pin one end in the first casing.

Further, the second drill rod positioning device comprises a second shell and a second ejection column, the second ejection column is elastically assembled in the second shell and can move for a certain distance in the second shell, and a frustum or a groove is formed in the end part of the second ejection column.

Further, a spring is arranged in the second shell, a positioning step is arranged on the second ejection column, two ends of the second ejection column protrude out of the second shell, a limiting pin is arranged at one end, far away from the groove, of the second ejection column in a clamping mode, one end of the spring is arranged on the positioning step in a clamping mode, and the other end of the spring is arranged in the second shell in a clamping mode and close to one end of the limiting pin.

Furthermore, three hinge points which are distributed in a triangular shape are arranged on the turnover frame and are marked as a first hinge point, a second hinge point and a third hinge point, the first hinge point is hinged to the fixed frame, one end of the turnover hydraulic cylinder is hinged to the fixed frame, the other end of the turnover hydraulic cylinder is hinged to the second hinge point, and the third hinge point is hinged to the claw.

The utility model has the advantages that:

the utility model discloses an in put automatic manipulator that bores that send of pole that adds, including roll-over stand, mount and hand claw, the roll-over stand articulates on the mount, and the hand claw articulates on the roll-over stand, and it has the upset pneumatic cylinder to articulate between roll-over stand and the mount, and the upset of roll-over stand can be driven to the upset pneumatic cylinder, and it has the centre gripping pneumatic cylinder to articulate between roll-over stand and the hand claw, and the centre gripping pneumatic cylinder can drive the hand claw and paste tightly or keep away from the roll-over stand. The utility model discloses a manipulator can replace the manual work to carry out the work of snatching of drilling rod in the middle-placed adds the pole process, reduces manual operation frequency, reduces function workman intensity of labour, has improved the operating efficiency.

Drawings

Fig. 1 is a schematic structural view of an automatic drill feeding manipulator with a middle-mounted additional rod of the present invention;

fig. 2 is a schematic structural view of the use state of the automatic drill feeding manipulator with the middle-mounted additional rod of the present invention;

fig. 3 is a cross-sectional view of a first drill rod positioning device in the automatic middle-positioned drill feeding manipulator of the present invention;

fig. 4 is a sectional view of a second drill rod positioning device in the automatic middle-positioned drill feeding manipulator of the present invention;

fig. 5 is a cross-sectional view of a second positioning device for drill rods in another embodiment of the middle-positioned automatic drill feeding manipulator of the present invention.

Names corresponding to the marks in the figure:

1. guide rail, 2, clamper, 3, power swivel device, 4, automatic drill feeding mechanism, 41, manipulator, 411, fixing frame, 412, roll-over stand, 4121, first hinge point, 4122, second hinge point, 4123, third hinge point, 413, slip, 414, gripper, 415, roll-over cylinder, 416, clamping cylinder, 42, drill rod support frame, 421, first drill rod support frame, 422, second drill rod support frame, 423, first drill rod positioning device, 4231, first baffle plate, 4232, first housing, 4233, first top column, 4234, first spring, 4235, first limit pin, 4236, first baffle plate, 424, second drill rod positioning device, 4241, second baffle plate, 4242, second housing, 4243, second top column, 4244, second spring, 4245, second limit pin, 4246, second baffle plate, 5, drill rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.

Embodiment 1 of the utility model:

as shown in fig. 1 to 5, the drilling mechanism includes a guide rail 1, a gripper 2, a power swivel device 3, and an automatic drill feeding mechanism 4.

As shown in figure 1, a guide rail 1 is arranged on the left and right, a power slewing device 3 is assembled on the guide rail 1 in a sliding mode, the power slewing device 3 can slide left and right along the guide rail 1 to drive a drill rod 5 to carry out drilling operation, and the power slewing device 3 is driven by an oil cylinder.

The clamp 2 is fixed on the guide rail 1, the clamp 2 is arranged at the end part of the guide rail 1, and the clamp 2 is matched with the power slewing device 3 to carry out drilling operation on the drill rod.

As shown in fig. 1-2, the automatic drill feeding mechanism 4 includes a robot 41 and a drill rod support frame 42.

The drill rod support frame 42 and the manipulator 41 are simultaneously fixed on one side of the guide rail 1 and are positioned between the power rotary device 3 and the clamp holder 2, and the manipulator 41 is matched with the drill rod support frame 42 to directly send the drill rod 5 into the center of the power rotary device 3 so that the power rotary device 3 can additionally connect the drill rod 5.

The drill rod support frame 42 comprises a first drill rod support frame 42 and a second drill rod support frame 42, and a first drill rod support frame 421 and a second drill rod support frame 422 are respectively arranged at two sides of the manipulator 41 and respectively support a drill tail and a drill magazine of the drill rod 5. The lower extreme of first drilling rod support frame 421 is fixed at 1 side of guide rail, and the upper end setting of buckling, the top of kink are equipped with first drilling rod positioner 423, and the brill tail of drilling rod 5 supports in first drilling rod support frame 421 upper end to it is spacing through first drilling rod positioner 423, avoid droing.

The lower extreme of second drilling rod support frame 422 is fixed at the guide rail 1 side, and the upper end setting of buckling, the top of kink are equipped with second drilling rod positioner 424, and the drill bit of drilling rod 5 supports in second drilling rod support frame 422 upper end to it is spacing through second drilling rod positioner 424, avoid droing.

As shown in fig. 3, the first pipe positioning device 423 includes a first stop plate 4231, a first housing 4232, a first top column 4233, a first spring 4234, a first limit pin 4235, and a first stop plate 4236.

The first shell 4232 is fixed on a first baffle 4231 through bolts, the first shell 4232 is internally of a hollow structure, a first top column 4233, a first baffle 4236 and a first spring 4234 are installed in the first shell 4232, one end, close to the first baffle 4231, of the first top column 4233 is of a frustum structure and used for being pushed into the interior of the drill rod 5 to limit the tail of the drill rod 5, meanwhile, a conical structure is adopted to facilitate the manipulator 41 to take away the drill rod 5, one side, far away from the first baffle 4231, of the first top column 4233 is provided with a boss, a positioning step is formed at the position of the boss and the conical structure on the first top column 4233, the boss penetrates through the first spring 4234 and extends out of the first shell 4232, a first limiting pin 4235 is installed at one end, exposed outside the first shell 4232, of the first top column 4233 to limit the first top column 4233, one end of the first spring 4234 is clamped on the positioning step, the other end is clamped at one end, close to the first limiting pin 4235, the first top column 4233 can move left and right in the first shell 4232 for a certain distance, in order to ensure the elastic effect of the first spring 4234, a first blocking piece 4236 is sleeved on one side, close to the frustum, of the first top column 4233 in the shell, and the first blocking piece 4236 can be pushed by the first top column 4233 to extrude the spring, so that the manipulator 41 can take away the drill rod 5 conveniently.

As shown in fig. 4, the second drill rod positioning device 424 includes a second stop plate 4241, a second housing 4242, a second top column 4243, a second spring 4244, a second limit pin 4245, and a second stop plate 4246.

The second shell 4242 is fixed on a second baffle 4241 through bolts, the second shell 4242 is internally hollow, a second top column 4243, a second baffle 4246 and a second spring 4244 are arranged in the second shell 4242, one end of the second top column 4243, which is close to the second baffle 4121, is of a U-shaped groove structure and is used for enabling the head of the drill rod 5 to enter the groove for limiting, the manipulator 41 is convenient to take away the drill rod 5 by adopting the U-shaped groove structure, one side, away from the second baffle 4241, of the second top column 4243 is provided with a boss, a positioning step is formed at the position of the boss and a conical structure on the second top column 4243, the boss penetrates through the second spring 4244 and extends out of the second shell 4242, one end, exposed outside the second shell 4242, of the second top column 4243 is provided with a second limiting pin 4245 to limit the first top column 4243, one end of the second spring 4244 is clamped on the positioning step, the other end is clamped at one end, which is close to the second limiting pin 4245, the second ejection column 4243 can move left and right in the second shell 4242 for a certain distance, in order to ensure the elastic effect of the second spring 4244, a second stop plate 4246 is sleeved on one side, close to the frustum, of the second ejection column 4243 in the second shell 4242, the second stop plate 4246 can be pushed by the second ejection column 4243 to extrude the spring, and the manipulator 41 can take the drill rod 5 away conveniently.

As shown in fig. 1-2, the robot 41 includes a fixing frame 411, a roll-over stand 412, a slip 413, a gripper 414, a roll-over cylinder 415, and a clamping cylinder 416. The fixing frame 411 is installed on the guide rail 1 and is located on the same side as the drill rod supporting frame 42, the fixing frame 411 is hinged to the roll-over stand 412, three hinge points which are distributed in a triangular mode are arranged on the roll-over stand 412 and are marked as a first hinge point 4121, a second hinge point 4122 and a third hinge point 4123, the first hinge point 4121 is hinged to the fixing frame 411, the third hinge point 4123 is hinged to the claw 414, the lower end of the roll-over oil cylinder 415 is hinged to the fixing frame 411, the upper end of the roll-over oil cylinder 415 is hinged to the second hinge point 4122, and the roll-over stand 412 can be driven to roll over through stretching and retracting of the roll-over oil cylinder 415.

The slips 413 are fixed on the overturning frame 412, the paw 414 is hinged at the upper end of the overturning frame 412, meanwhile, the paw 414 is hinged with a clamping oil cylinder 416, the paw 414 is driven to approach or be far away from the slips 413 by the telescopic action of the clamping oil cylinder 416, and the opening and closing of the manipulator 41 are realized.

The utility model discloses a manipulator is applied to automatic drilling rod adding in the middle rod adding process, the middle rod adding process belongs to the prior art, for example, the invention patent of application number CN111927348 discloses a middle rod adding method (the same applicant as the present case) of a guide rail type drilling device, in the actual work, the drilling rod 5 is placed between a first drilling rod support frame 421 and a second drilling frame support frame 422, the manipulator 41 is closed, the drilling rod 5 is tightly grasped, the overturning oil cylinder 415 extends out, the manipulator 41 is overturned to the center close to the power rotary device 3, when the drilling rod 5 is positioned at the center of the power rotary device 3, the power rotary device 3 is pushed forward, the drilling rod 5 is clamped by a chuck, at the moment, the manipulator 41 is opened under the action of the clamping oil cylinder 416, the overturning oil cylinder 415 contracts, the manipulator 41 is overturned to the side far away from the power rotary device 3, the power rotary device 3 is rotated and pushed forward to carry out the drilling operation, when the power slewing device 3 normally drills, the mechanical arm 41 is recovered to the direction far away from the power recovery device, then the mechanical arm 41 is opened, the drill rod 5 is placed on the drill rod support frame 42 according to the drilling direction, because the drill rod 5 is clamped between the first drill rod positioning device 423 and the second drill rod positioning device 424, the drill rod 5 cannot easily fall off, the mechanical arm 41 is closed, the drill rod 5 is tightly grasped, after the power slewing device 3 finishes drilling, the mechanical arm retreats to the position where the drill rod can be additionally connected,

after the common rod of the power slewing device 3 is connected with the drill rod 5 in the manipulator 41, the common rod and the newly-added drill rod 5 are driven to rotate and advance at the same time, and after the newly-added drill rod 5 is connected with the drill rod 5 in the clamp holder 2, a deslagging medium is introduced through a ventilation water joint at the tail end of the common rod, and the equipment performs normal drilling operation.

The utility model discloses an in put automatic drill sending manipulator of putting with the pole, the action homoenergetic of manipulator can be accomplished automatically, only need the manual work place the drilling rod on first drilling rod support frame 421 and second drilling rod support frame 422 can, reduce manual operation frequency, reduce function workman intensity of labour, improved the operating efficiency.

In other embodiments, as shown in fig. 5, a side of the second top column 4243 in the second drill rod positioning device 424, which is close to the second baffle 4241, is also in a frustum structure, and unlike the frustum structure of the first top column 4233 in the first drill rod positioning device 423, the frustum structure of the second top column 4243 is smaller in diameter than the frustum structure of the first top column 4233, in practical use, the diameter of a drill magazine section is smaller than that of a drill tail section, the frustum is used for jacking into the interior of the drill rod 5 to limit the drill magazine, and the manipulator 41 is convenient to take away the drill rod 5 by adopting the frustum structure.

Claims

1. The utility model provides a put automatic bit feeding manipulator of pole that adds which characterized in that:

including roll-over stand, mount and hand claw, the roll-over stand articulates on the mount, the hand claw articulates on the roll-over stand, the roll-over stand with articulated between the mount have the upset pneumatic cylinder, the upset pneumatic cylinder can drive the roll-over stand upset, the roll-over stand with articulated between the hand claw have the centre gripping pneumatic cylinder, the centre gripping pneumatic cylinder can drive the hand claw pastes tightly or keeps away from the roll-over stand.

2. The automatic center-set rod-feeding drill manipulator according to claim 1, characterized in that: slips are fixed at the upper end of the roll-over stand, and the paw is close to or far away from the slips and used for clamping or releasing a drill rod.

3. The automatic center-set rod-feeding drill manipulator according to claim 1, characterized in that: and a drill rod supporting frame is arranged on the side edge of the turnover frame.

4. The automatic center-set rod-feeding drill manipulator according to claim 3, characterized in that: and a drill rod positioning device is arranged on the drill rod support frame.

5. The automatic center-set rod-feeding drill manipulator according to claim 3, characterized in that: the drilling rod support frame has two, marks as first drilling rod support frame and second drilling rod support frame, establishes respectively in the both sides of hand claw for support the both ends of drilling rod, be provided with first drilling rod positioner on the first drilling rod support frame, be provided with second drilling rod positioner on the second drilling rod support frame.

6. The automatic center-set rod-feeding drill manipulator according to claim 5, characterized in that: the first drill rod positioning device comprises a first shell and a first ejection column, the first ejection column is elastically assembled in the first shell, the first ejection column can move a certain distance in the first shell, a frustum is arranged at the end part of the first ejection column, and the frustum is used for ejecting into a drill rod.

7. The automatic center-set rod-feeding drill manipulator according to claim 6, characterized in that: the improved taper-cone frustum structure is characterized in that a spring is arranged in the first shell, a positioning step is arranged on the first top pillar, two ends of the first top pillar protrude out of the first shell, the first top pillar is far away from one end of the taper-cone frustum and provided with a limiting pin, one end of the spring is clamped on the positioning step, and the other end of the spring is clamped at one end, close to the limiting pin, of the first shell.

8. The automatic center-set rod-feeding drill manipulator according to claim 5, characterized in that: the second drill rod positioning device comprises a second shell and a second ejection column, the second ejection column is elastically assembled in the second shell and can move for a certain distance in the second shell, and a frustum or a groove is formed in the end part of the second ejection column.

9. The center-set automatic drill feeding manipulator of claim 8, wherein: the spring is arranged in the second shell, a positioning step is arranged on the second ejection column, two ends of the second ejection column protrude out of the second shell, the second ejection column is far away from the limiting pin arranged at one end of the groove in a clamped mode, one end of the spring is arranged on the positioning step in a clamped mode, and the other end of the spring is arranged in the second shell in a clamped mode and close to one end of the limiting pin.

10. The automatic center-set rod-feeding drill manipulator according to claim 1, characterized in that: the turnover frame is provided with three hinge points which are distributed in a triangular shape and marked as a first hinge point, a second hinge point and a third hinge point, the first hinge point is hinged with the fixed frame, one end of the turnover hydraulic cylinder is hinged on the fixed frame, the other end of the turnover hydraulic cylinder is hinged with the second hinge point, and the third hinge point is hinged with the paw.